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Document type:
Zeitschriftenaufsatz 
Author(s):
Rickert, Markus; Sieverling, Arne; Brock, Oliver 
Title:
Balancing Exploration and Exploitation in Sampling-Based Motion Planning 
Abstract:
We present the exploring/exploiting tree (EET) algorithm for motion planning. The EET planner deliberately trades probabilistic completeness for computational efficiency. This tradeoff enables the EET planner to outperform state-of-the-art sampling-based planners by up to three orders of magnitude. We show that these considerable speedups apply for a variety of challenging real-world motion planning problems. The performance improvements are achieved by leveraging work space information to conti...    »
 
Journal title:
IEEE Transactions on Robotics 
Year:
2014 
Journal volume:
30 
Month:
Dec 
Journal issue:
Pages contribution:
1305--1317