Replanning with RRTs
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 1243 - 1248, May, 2006
Abstract
We present a replanning algorithm for repairing Rapidly-exploring Random Trees when changes are made to the configuration space. Instead of abandoning the current RRT, our algorithm efficiently removes just the newly-invalid parts and maintains the rest. It then grows the resulting tree until a new solution is found. We use this algorithm to create a probabilistic analog to the widely-used D* family of deterministic algorithms, and demonstrate its effectiveness in a multirobot planning domain.
BibTeX
@conference{Ferguson-2006-9443,author = {David Ferguson and Nidhi Kalra and Anthony (Tony) Stentz},
title = {Replanning with RRTs},
booktitle = {Proceedings of (ICRA) International Conference on Robotics and Automation},
year = {2006},
month = {May},
pages = {1243 - 1248},
}
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.