{"id":19526632,"url":"https://github.com/zju-fast-lab/sampling-based-path-finding","last_synced_at":"2025-04-09T14:14:42.121Z","repository":{"id":39996598,"uuid":"467786653","full_name":"ZJU-FAST-Lab/sampling-based-path-finding","owner":"ZJU-FAST-Lab","description":null,"archived":false,"fork":false,"pushed_at":"2022-07-04T07:24:00.000Z","size":22962,"stargazers_count":249,"open_issues_count":1,"forks_count":64,"subscribers_count":5,"default_branch":"main","last_synced_at":"2025-04-02T10:42:20.877Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"mit","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/ZJU-FAST-Lab.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null}},"created_at":"2022-03-09T05:14:43.000Z","updated_at":"2025-04-02T03:35:15.000Z","dependencies_parsed_at":"2022-07-15T11:30:35.520Z","dependency_job_id":null,"html_url":"https://github.com/ZJU-FAST-Lab/sampling-based-path-finding","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ZJU-FAST-Lab%2Fsampling-based-path-finding","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ZJU-FAST-Lab%2Fsampling-based-path-finding/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ZJU-FAST-Lab%2Fsampling-based-path-finding/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ZJU-FAST-Lab%2Fsampling-based-path-finding/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/ZJU-FAST-Lab","download_url":"https://codeload.github.com/ZJU-FAST-Lab/sampling-based-path-finding/tar.gz/refs/heads/main","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":248054193,"owners_count":21039952,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2024-11-11T01:11:08.916Z","updated_at":"2025-04-09T14:14:42.102Z","avatar_url":"https://github.com/ZJU-FAST-Lab.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# C++ implementation and visualization of some sampling-based path planners\n\n## Build \u0026 Run\n### Build\n1. git clone git@github.com:ZJU-FAST-Lab/sampling-based-path-finding.git\n2. cd sampling-based-path-finding/\n3. catkin_make\n\n### Run\nIn two seperate terminals, _source_ first, then:\n1. roslaunch path_finder rviz.launch\n2. roslaunch path_finder test_planners.launch\n\nIn Rviz panel, add a new tool \"Goal3DTool\", press keyboard \"g\" and use mouse to set goals.\n\n## RRT\n_LaValle, S.M. (1998). Rapidly-exploring random trees : a new tool for path planning. The annual research report_.\n\u003cp align=\"center\"\u003e\n  \u003cimg src=\"misc/rrt.gif\" width = \"655\" height = \"477\"/\u003e\n\u003c/p\u003e\n\n## RRT*\n### Original\n\n_Karaman, Sertac, and Emilio Frazzoli. “Sampling-Based Algorithms for Optimal Motion Planning.” The International Journal of Robotics Research, vol. 30, no. 7, June 2011, pp. 846–894, doi:10.1177/0278364911406761_.\n\u003cp align=\"center\"\u003e\n  \u003cimg src=\"misc/rrt*.gif\" width = \"655\" height = \"477\"/\u003e\n\u003c/p\u003e\n\n### RRT* with informed sampling\n\n_J. D. Gammell, T. D. Barfoot and S. S. Srinivasa, \"Informed Sampling for Asymptotically Optimal Path Planning,\" in IEEE Transactions on Robotics, vol. 34, no. 4, pp. 966-984, Aug. 2018, doi: 10.1109/TRO.2018.2830331_.\n\u003cp align=\"center\"\u003e\n  \u003cimg src=\"misc/informed-rrt*.gif\" width = \"655\" height = \"477\"/\u003e\n\u003c/p\u003e\n\n### RRT* with GUILD sampling\n\n_Aditya Mandalika and Rosario Scalise and Brian Hou and Sanjiban Choudhury and Siddhartha S. Srinivasa, Guided Incremental Local Densification for Accelerated Sampling-based Motion Planning,\" in Arxiv, 2021, https://arxiv.org/abs/2104.05037_\n\u003cp align=\"center\"\u003e\n  \u003cimg src=\"misc/guild-rrt*.gif\" width = \"655\" height = \"477\"/\u003e\n\u003c/p\u003e\n\n## RRT#\n### Original\n\n_O. Arslan and P. Tsiotras, \"Use of relaxation methods in sampling-based algorithms for optimal motion planning,\" 2013 IEEE International Conference on Robotics and Automation, 2013, pp. 2421-2428, doi: 10.1109/ICRA.2013.6630906_.\n\u003cp align=\"center\"\u003e\n  \u003cimg src=\"misc/rrt*.gif\" width = \"655\" height = \"477\"/\u003e\n\u003c/p\u003e\n\n### RRT# with informed sampling\n\u003cp align=\"center\"\u003e\n  \u003cimg src=\"misc/informed-rrt-sharp.gif\" width = \"655\" height = \"477\"/\u003e\n\u003c/p\u003e\n\n### RRT# with GUILD sampling\n\u003cp align=\"center\"\u003e\n  \u003cimg src=\"misc/guild-rrt-sharp.gif\" width = \"655\" height = \"477\"/\u003e\n\u003c/p\u003e\n\n## Bidirectional RRT\n### RRT-connect (BRRT)\n\n_Kuffner, James J., and Steven M. LaValle. \"RRT-connect: An efficient approach to single-query path planning.\" Proceedings 2000 ICRA._\n\u003cp align=\"center\"\u003e\n  \u003cimg src=\"misc/brrt.gif\" width = \"655\" height = \"477\"/\u003e\n\u003c/p\u003e\n\n### IB-RRT*\n\n_Qureshi, Ahmed Hussain, and Yasar Ayaz. \"Intelligent bidirectional rapidly-exploring random trees for optimal motion planning in complex cluttered environments.\" Robotics and Autonomous Systems 68 (2015): 1-11._\n\n\u003cp align=\"center\"\u003e\n  \u003cimg src=\"misc/brrt*.gif\" width = \"655\" height = \"477\"/\u003e\n\u003c/p\u003e\n\n### IB-RRT* with informed sampling\n\n\u003cp align=\"center\"\u003e\n  \u003cimg src=\"misc/informed_brrt*.gif\" width = \"655\" height = \"477\"/\u003e\n\u003c/p\u003e\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fzju-fast-lab%2Fsampling-based-path-finding","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fzju-fast-lab%2Fsampling-based-path-finding","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fzju-fast-lab%2Fsampling-based-path-finding/lists"}