Real-time obstacle avoidance for manipulators and mobile robots
International Journal of Robotics Research
The complexity of robot motion planning
The complexity of robot motion planning
Applications of spatial data structures: Computer graphics, image processing, and GIS
Applications of spatial data structures: Computer graphics, image processing, and GIS
The design and analysis of spatial data structures
The design and analysis of spatial data structures
Random number generation and quasi-Monte Carlo methods
Random number generation and quasi-Monte Carlo methods
Robot motion planning: a distributed representation approach
International Journal of Robotics Research
A random sampling scheme for path planning
International Journal of Robotics Research
An optimal algorithm for approximate nearest neighbor searching fixed dimensions
Journal of the ACM (JACM)
An algorithm for planning collision-free paths among polyhedral obstacles
Communications of the ACM
Computational Geometry: Theory and Applications
Analysis of range search for random k-d trees
Acta Informatica
Robot Motion Planning
Dynamically-Stable Motion Planning for Humanoid Robots
Autonomous Robots
Dynamic Motion Planning for Mobile Robots Using Potential Field Method
Autonomous Robots
Real-Time Reach Planning for Animated Characters Using Hardware Acceleration
CASA '03 Proceedings of the 16th International Conference on Computer Animation and Social Agents (CASA 2003)
The number of neighbors needed for connectivity of wireless networks
Wireless Networks
Space-time tradeoffs for approximate spherical range counting
SODA '05 Proceedings of the sixteenth annual ACM-SIAM symposium on Discrete algorithms
Handbook of Mathematical Functions, With Formulas, Graphs, and Mathematical Tables,
Handbook of Mathematical Functions, With Formulas, Graphs, and Mathematical Tables,
On the Probabilistic Foundations of Probabilistic Roadmap Planning
International Journal of Robotics Research
Planning Algorithms
Counting and Reporting Intersections of d-Ranges
IEEE Transactions on Computers
Complexity of the mover's problem and generalizations
SFCS '79 Proceedings of the 20th Annual Symposium on Foundations of Computer Science
New lower bound techniques for robot motion planning problems
SFCS '87 Proceedings of the 28th Annual Symposium on Foundations of Computer Science
Anytime search in dynamic graphs
Artificial Intelligence
Concentration of Measure for the Analysis of Randomized Algorithms
Concentration of Measure for the Analysis of Randomized Algorithms
Planning Long Dynamically Feasible Maneuvers for Autonomous Vehicles
International Journal of Robotics Research
A subdivision algorithm in configuration space for findpath with rotation
IJCAI'83 Proceedings of the Eighth international joint conference on Artificial intelligence - Volume 2
The Belief Roadmap: Efficient Planning in Belief Space by Factoring the Covariance
International Journal of Robotics Research
The focussed D* algorithm for real-time replanning
IJCAI'95 Proceedings of the 14th international joint conference on Artificial intelligence - Volume 2
Integration of Path/Maneuver Planning in Complex Environments for Agile Maneuvering UCAVs
Journal of Intelligent and Robotic Systems
LQR-trees: Feedback Motion Planning via Sums-of-Squares Verification
International Journal of Robotics Research
Sampling-based path planning on configuration-space costmaps
IEEE Transactions on Robotics
Sampling-Based Roadmap of Trees for Parallel Motion Planning
IEEE Transactions on Robotics
Improving Motion-Planning Algorithms by Efficient Nearest-Neighbor Searching
IEEE Transactions on Robotics
The capacity of wireless networks
IEEE Transactions on Information Theory
Optimizing motion of robotic manipulators in interaction with human operators
ICIRA'11 Proceedings of the 4th international conference on Intelligent Robotics and Applications - Volume Part I
International Journal of Robotics Research
Collision-free and smooth trajectory computation in cluttered environments
International Journal of Robotics Research
Real-time informed path sampling for motion planning search
International Journal of Robotics Research
CarSpeak: a content-centric network for autonomous driving
ACM SIGCOMM Computer Communication Review - Special october issue SIGCOMM '12
International Journal of Robotics Research
Journal of Intelligent and Robotic Systems
ARA*+: Improved Path Planning Algorithm Based on ARA*
WI-IAT '12 Proceedings of the The 2012 IEEE/WIC/ACM International Joint Conferences on Web Intelligence and Intelligent Agent Technology - Volume 02
Bi-level programming based real-time path planning for unmanned aerial vehicles
Knowledge-Based Systems
Planning of diverse trajectories for UAV control displays
Proceedings of the 2013 international conference on Autonomous agents and multi-agent systems
Multi-agent RRT: sampling-based cooperative pathfinding
Proceedings of the 2013 international conference on Autonomous agents and multi-agent systems
Dynamic walking and whole-body motion planning for humanoid robots: an integrated approach
International Journal of Robotics Research
CHOMP: Covariant Hamiltonian optimization for motion planning
International Journal of Robotics Research
Three-dimensional coverage planning for an underwater inspection robot
International Journal of Robotics Research
Integrated task and motion planning in belief space
International Journal of Robotics Research
Online obstacle avoidance at high speeds
International Journal of Robotics Research
Observability-based local path planning and obstacle avoidance using bearing-only measurements
Robotics and Autonomous Systems
Sparse roadmap spanners for asymptotically near-optimal motion planning
International Journal of Robotics Research
k-color multi-robot motion planning
International Journal of Robotics Research
Spline-Based RRT Path Planner for Non-Holonomic Robots
Journal of Intelligent and Robotic Systems
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During the last decade, sampling-based path planning algorithms, such as probabilistic roadmaps (PRM) and rapidly exploring random trees (RRT), have been shown to work well in practice and possess theoretical guarantees such as probabilistic completeness. However, little effort has been devoted to the formal analysis of the quality of the solution returned by such algorithms, e.g. as a function of the number of samples. The purpose of this paper is to fill this gap, by rigorously analyzing the asymptotic behavior of the cost of the solution returned by stochastic sampling-based algorithms as the number of samples increases. A number of negative results are provided, characterizing existing algorithms, e.g. showing that, under mild technical conditions, the cost of the solution returned by broadly used sampling-based algorithms converges almost surely to a non-optimal value. The main contribution of the paper is the introduction of new algorithms, namely, PRM* and RRT*, which are provably asymptotically optimal, i.e. such that the cost of the returned solution converges almost surely to the optimum. Moreover, it is shown that the computational complexity of the new algorithms is within a constant factor of that of their probabilistically complete (but not asymptotically optimal) counterparts. The analysis in this paper hinges on novel connections between stochastic sampling-based path planning algorithms and the theory of random geometric graphs.