An Efficient Retraction-based RRT Planner

Liangjun Zhang, Dinesh Manocha
GAMMA Group

University of North Carolina at Chapel Hill

Preprint: Paper (0.7M)

IEEE International Conference on Robotics and Automation (ICRA), 2008

Results

Alpha Puzzle

Video 1 This video shows one collision-free path computed by our planner. It took 4,130.5s. There were 103,121 nodes in the resulting tree.

Video 2 This video shows another collision-free path for this example found by our planner.

Notch 25.4s; 1,401 nodes Video 3 (14M)	Torus 44.9s; 1,471 nodes Video 4 (26M)
Flange; Video 5 (5M); 25.0s; 119 nodes

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