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A Multi-Tree Extension of the Transition-based RRT

A Multi-Tree Extension of the Transition-based RRT. Didier Devaurs , Thierry Siméon and Juan Cortés LAAS-CNRS and Univ de Toulouse, France. Multi-T-RRT: multiple-tree variant of the Transition-based RRT Anytime behavior: useful cycles

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A Multi-Tree Extension of the Transition-based RRT

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  1. A Multi-Tree Extension of the Transition-based RRT Didier Devaurs, Thierry Siméonand Juan Cortés LAAS-CNRS and Univ de Toulouse, France • Multi-T-RRT: multiple-tree variant of the Transition-based RRT • Anytime behavior: useful cycles • Solve ordering-and-pathfinding problems in continuous cost spaces (visit a set of waypoints) • Ex.: industrial inspection with an aerial robot in a large workspace

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