RABIT* @ CMU (ICRA 2016)

In this video we show a new approach to path planning that combines the benefits of our global Batch Informed Trees (BIT*) algorithm with a local optimizer, CHOMP. The result is Regionally Accelerated BIT* (RABIT*). The local search improves individual edges for fast convergence, while the global planner ensures we do not get stuck in a local minimum.

This video is associated with the following paper:
Choudhury S, Gammell J D, Barfoot T D, Srinivasa S S, and Scherer S. “Regionally Accelerated Batch Informed Trees (RABIT*): A Framework to Integrate Local Information into Optimal Path Planning”. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 4207–4214. Stockholm, Sweden, 16-21 May 2016.