Replanning with RRTs

By D. Ferguson, Nidhi Kalra, Anthony Stentz. Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006., 2006

351 citations recorded by the source corpus.

How researchers see this paper

The researchers whose trusted networks rank it highest, strongest advocate first. Every researcher gets a different order.

Sampling-Based Robot Motion Planning: A Review (2014, background): “Dynamic RRT (DRRT) builds on the idea that it is more efficient to repair the existing tree, than to, rebuild an entirely new one [215].”
Subdimensional expansion for multirobot path planning (2015, background): “Decoupled approaches generally can not guarantee that a path will be found, much less the optimal path.”
Multipartite RRTs for Rapid Replanning in Dynamic Environments (2007, neutral): “The intuition that information from previous planning iterations should be preserved led to the development of three modifications to the RRT algorithm: ERRT [9], DRRT [10], and RRF [11].”
Perception, Planning, Control, and Coordination for Autonomous Vehicles (2017, background): “Other works have suggested redoing collision-checks over the entire planning tree, as in Dynamic RRT (DRRT) [256], where the tree structure was utilized to trim child “branches” once a parent state was found to be no longer valid, and sampling is biased towards trimmed regions.”
E-Graphs: Bootstrapping Planning with Experience Graphs (2012, background): “Extensions of this approach can be found in [20, 6].”