Revisiting the Asymptotic Optimality of RRT
Kiril Solovey,Lucas Janson,Edward Schmerling,Emilio Frazzoli,Marco Pavone,Kiril Solovey,Lucas Janson,Edward Schmerling,Emilio Frazzoli,Marco Pavone
RRT* is one of the most widely used sampling-based algorithms for asymptotically-optimal motion planning. RRT* laid the foundations for optimality in motion planning as a whole, and inspired the development of numerous new algorithms in the field, many of which build upon RRT* itself. In this paper, we first identify a logical gap in the optimality proof of RRT*, which was developed by Karaman and...
