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RRT-blossom: RRT with a local flood-fill behavior
Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006., 2006This paper proposes a new variation of the RRT planner which demonstrates good performance on both loosely-constrained and highly-constrained environments. The key to the planner is an implicit flood-fill-like mechanism, a technique that is well suited to escaping local minima in highly constrained problems.
Maciej Kalisiak, Michiel van de Panne
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MK-RRT*: Multi-Robot Kinodynamic RRT Trajectory Planning
2021 International Conference on Unmanned Aircraft Systems (ICUAS), 2021This paper introduces MK-RRT*: a Multi-robot Kinodynamic RRT*-based framework for trajectory planning of multiple dynamically-modeled robots. The framework includes both tightly-coupled and loosely-coupled methods for planning. The simultaneous, tightly-coupled, method provides an asymptotically optimal solution to the multi-robot trajectory planning ...
Brennan Cain +2 more
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2015 IEEE International Conference on Robotics and Automation (ICRA), 2015
Reachable volumes are a new technique that allows one to efficiently restrict sampling to feasible/reachable regions of the planning space even for high degree of freedom and highly constrained problems. However, they have so far only been applied to graph-based sampling-based planners.
Troy McMahon +2 more
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Reachable volumes are a new technique that allows one to efficiently restrict sampling to feasible/reachable regions of the planning space even for high degree of freedom and highly constrained problems. However, they have so far only been applied to graph-based sampling-based planners.
Troy McMahon +2 more
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Proceedings of the 8th ACM SIGGRAPH Conference on Motion in Games, 2015
This paper presents a novel algorithm for real-time path-planning in a dynamic environment such as a computer game. We utilize a real-time sampling approach based on the Rapidly Exploring Random Tree (RRT) algorithm that has enjoyed wide success in robotics. More specifically, our algorithm is based on the RRT* and informed RRT* variants. We contribute
Rajamäki, Joose +3 more
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This paper presents a novel algorithm for real-time path-planning in a dynamic environment such as a computer game. We utilize a real-time sampling approach based on the Rapidly Exploring Random Tree (RRT) algorithm that has enjoyed wide success in robotics. More specifically, our algorithm is based on the RRT* and informed RRT* variants. We contribute
Rajamäki, Joose +3 more
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Steps toward derandomizing RRTs
Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891), 2004We present two new motion planning algorithms, based on the rapidly exploring random tree (RRT) family of algorithms. These algorithms represent the first work in the direction of derandomizing RRTs; this is a very challenging problem due to the way randomization is used in RRTs.
Stephen R. Lindemann, Steven M. LaValle
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RRT: MODALITIES - ANTICOAGULATION
Acta Clinica Belgica, 2007(2007). RRT: MODALITIES - ANTICOAGULATION. Acta Clinica Belgica: Vol. 62, No. sup2, pp. 362-364.
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Smooth RRT-connect: An extension of RRT-connect for practical use in robots
2015 IEEE International Conference on Technologies for Practical Robot Applications (TePRA), 2015We propose a new extend function for Rapidly-Exploring Randomized Tree (RRT) algorithms that expands along a curve, obeying velocity and acceleration limits, rather than using straight-line trajectories. This results in smooth, feasible trajectories that can readily be applied in robotics applications.
Chelsea Lau, Katie Byl
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The Polarized RRT-Edge Approach
2018 Latin American Robotic Symposium, 2018 Brazilian Symposium on Robotics (SBR) and 2018 Workshop on Robotics in Education (WRE), 2018In this paper, a polarization technique is presented to reduce the amount of iterations and node discard of the RRT-Edge algorithm. The RRT-Edge differs from Classic RRT by the insertion of a new node-tree connection method. The connection rule uses variable edge size and the possibility to connect a new node to an edge of the tree.
Alana de Santana Correia +4 more
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Narrow passage RRT*: a new variant of RRT*
International Journal of Computational Vision and Robotics, 2022Amine Belaid +2 more
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2017 18th International Conference on Advanced Robotics (ICAR), 2017
We present a novel, data-driven kinodynamic motion planner. Our sampling-based planner is based on using a physics simulator as a black box to compute a trajectory considering dynamics, even when we cannot derive exact propagation functions. To improve its overall efficiency, we pre-compute a motion database containing different motions simulated with ...
Junghwan Lee +2 more
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We present a novel, data-driven kinodynamic motion planner. Our sampling-based planner is based on using a physics simulator as a black box to compute a trajectory considering dynamics, even when we cannot derive exact propagation functions. To improve its overall efficiency, we pre-compute a motion database containing different motions simulated with ...
Junghwan Lee +2 more
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