Typedef ompl::multilevel::QRRTStar

• Defined in File QRRTStar.h

Typedef Documentation

using ompl::multilevel::QRRTStar = BundleSpaceSequence<QRRTStarImpl>

[Q]uotient space [R]apidly exploring [R]andom [T]rees Star (QRRT*) Algorithm

Short description

QRRTstar is an almost-surely asymptotically optimal planners which generalizes RRTstar to multilevel abstractions, which we formulate using fiber bundle sequences.

External documentation

Andreas Orthey and Sohaib Akbar and Marc Toussaint, Multilevel Motion Planning: A Fiber Bundle Formulation, in arXiv:2007.09435 [cs.RO], 2020, [PDF]