Adaptively Informed Trees (AIT*): Fast Asymptotically Optimal Path Planning through Adaptive Heuristics
Marlin P. Strub,Jonathan D. Gammell,Marlin P. Strub,Jonathan D. Gammell
Informed sampling-based planning algorithms exploit problem knowledge for better search performance. This knowledge is often expressed as heuristic estimates of solution cost and used to order the search. The practical improvement of this informed search depends on the accuracy of the heuristic.Selecting an appropriate heuristic is difficult. Heuristics applicable to an entire problem domain are o...
