Advanced Motion Planning: FMT*, Informed RRT*, BIT*, and RABIT* | An OMPL Tutorial with Examples
Presentation by Jay Patrikar and Brady Moon, part of the AirLab Summer School 2020.
Sessions list, overviews, and links to the example code: https://theairlab.org/summer2020
This session is an overview of newer motion planning methods as well as a walkthrough on how to use OMPL.
Outline:
0:00 - Intro
0:59 - Review
5:03 - FMT*
9:04 - Informed RRT*
10:40 - BIT*
15:23 - RABIT*
18:40 - Discussion & Questions
23:59 - OMPL Overview
43:00 - OMPL Walkthrough
49:33 - Example Code & Tutorial
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