Typedef ompl::multilevel::QRRT

• Defined in File QRRT.h

Typedef Documentation

using ompl::multilevel::QRRT = BundleSpaceSequence<QRRTImpl>

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

Short description

QRRT is a planner using different abstractions levels, each described by a quotient-space, and grows trees both sequentially and simultaneously on them. The growing of each tree is similar to the RRT algorithm, but it differs that (1) a tree is only started if there exists a solution on a lower-dimensional quotient-space, and (2) a sample is not drawn uniformly, but constraint to the tree of the lower-dimensional quotient-space. The algorithm stops if a planner terminate condition (ptc) is reached, or if a solution has been found on the last quotient-space, which is equivalent to the configuration space.

External documentation

A. Orthey and M. Toussaint, Rapidly-Exploring Quotient-Space Trees: Motion Planning using Sequential Simplifications, in International Symposium of Robotics Research, 2019, [PDF]