An Efficient Retraction-based RRT Planner
University of North Carolina at Chapel Hill
Preprint: Paper (0.7M)
IEEE International Conference on Robotics and Automation (ICRA),
Video 1 This video shows one
collision-free path computed by our planner. It took 4,130.5s. There were
103,121 nodes in the resulting tree.
Video 2 This video shows
another collision-free path for this example found by our planner.
25.4s; 1,401 nodes
Video 3 (14M)
44.9s; 1,471 nodes
Video 4 (26M)
Video 5 (5M); 25.0s; 119
Generalized Penetration Depth
Complete Motion Planning