PAL lab meeting 2 June, 2006 (Any): RRT-blossom: RRT with a local flood-fill behavior

Author:
Maciej Kalisiak, Dept. of Computer Science, University of Toronto
Michiel van de Panne, Dept. of Computer Science, University of British Columbia

Paper from Proceedings of the 2006 IEEE International Conference on Robotics and Automation

Abstract:
This paper proposes a new variation of the RRT planner which demonstrates good performance on both looselyconstrained and highly-constrained environments. The key to the planner is an implicit flood-fill-like mechanism, a technique that is well suited to escaping local minima in highly constrained problems. We show sample results for a variety of problems and environments, and discuss future improvements.

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