Informed RRT*: Optimal Sampling-based Path Planning Focused via Direct Sampling of an Admissible Ellipsoidal Heuristic. Gammell, J., Srinivasa, S., & Barfoot, T. In IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014.
bibtex   
@inproceedings{gammell2014informedrrtstar,
  title={Informed RRT*: Optimal Sampling-based Path Planning Focused via Direct Sampling of an Admissible Ellipsoidal Heuristic},
  author={Gammell, J. and Srinivasa, S.S. and Barfoot, T.},
  booktitle=iros,
  year={2014}
}

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