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Sampling-Based Tree Planners (RRT, EST, and Variations)

Juan Cortés 1 Thierry Simeon 1
1 LAAS-RIS - Équipe Robotique et InteractionS
LAAS - Laboratoire d'analyse et d'architecture des systèmes
Abstract : A sampling-based tree planner is an algorithm to compute a feasible path between given initial and final configurations of a robot. For that, it constructs a search tree by iterative sampling in the configuration space.
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https://hal.laas.fr/hal-03165054
Contributor : Juan Cortés <>
Submitted on : Wednesday, March 10, 2021 - 1:01:56 PM
Last modification on : Thursday, June 10, 2021 - 3:06:30 AM

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Juan Cortés, Thierry Simeon. Sampling-Based Tree Planners (RRT, EST, and Variations). Encyclopedia of Robotics, Springer Berlin Heidelberg, pp.1-9, 2021, ⟨10.1007/978-3-642-41610-1_170-1⟩. ⟨hal-03165054⟩

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