Asymptotically Optimal Path Planning With an Approximation of the Omniscient Set
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F25%3A00381565" target="_blank" >RIV/68407700:21230/25:00381565 - isvavai.cz</a>
Result on the web
<a href="http://hdl.handle.net/10467/126264" target="_blank" >http://hdl.handle.net/10467/126264</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/LRA.2025.3540627" target="_blank" >10.1109/LRA.2025.3540627</a>
Alternative languages
Result language
angličtina
Original language name
Asymptotically Optimal Path Planning With an Approximation of the Omniscient Set
Original language description
The asymptotically optimal version of Rapidly-exploring Random Tree (RRT*) is often used to find optimal paths in a high-dimensional configuration space. The well-known issue of RRT* is its slow convergence towards the optimal solution. A possible solution is to draw random samples only from a subset of the configuration space that is known to contain configurations that can improve the cost of the path (omniscient set). A fast convergence rate may be achieved by approximating the omniscient with a low-volume set. In this letter, we propose new methods to approximate the omniscient set and methods for their effective sampling. First, we propose to approximate the omniscient set using several (small) hyperellipsoids defined by sections of the current best solution. The second approach approximates the omniscient set by a convex hull computed from the current solution. Both approaches ensure asymptotical optimality and work in a general n-dimensional configuration space. The experiments have shown superior performance of our approaches in multiple scenarios in 3D and 6D configuration spaces.
Czech name
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Czech description
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Classification
Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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OECD FORD branch
20204 - Robotics and automatic control
Result continuities
Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2025
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
IEEE Robotics and Automation Letters
ISSN
2377-3766
e-ISSN
2377-3766
Volume of the periodical
10
Issue of the periodical within the volume
4
Country of publishing house
US - UNITED STATES
Number of pages
8
Pages from-to
3214-3221
UT code for WoS article
001453168100008
EID of the result in the Scopus database
2-s2.0-85217813161