@inproceedings{c6ce6b0761ce4d05b0f4af2d0e444f69,
title = "A multi-tree extension of the transition-based RRT: application to ordering-and-pathfinding problems in continuous cost spaces",
abstract = "The Transition-based RRT (T-RRT) is a variant of RRT developed for path planning on a continuous cost space, i.e. a configuration space featuring a continuous cost function. It has been used to solve complex, high-dimensional problems in robotics and structural biology. In this paper, we propose a multiple-tree variant of T-RRT, named Multi-T-RRT. It is especially useful to solve ordering-and-pathfinding problems, i.e. to compute a path going through several unordered way-points. Using the Multi-T-RRT, such problems can be solved from a purely geometrical perspective, without having to use a symbolic task planner. We evaluate the Multi-T-RRT on several path planning problems and compare it to other path planners. Finally, we apply the Multi-T-RRT to a concrete industrial inspection problem involving an aerial robot.",
keywords = "path planning, inspection, cost function, planning, service robots, engines",
author = "Didier Devaurs and Thierry Sim{\'e}on and Juan Cort{\'e}s",
year = "2014",
month = nov,
day = "6",
doi = "10.1109/IROS.2014.6942975",
language = "English",
series = "IEEE International Conference on Intelligent Robots and Systems",
publisher = "IEEE",
pages = "2991--2996",
booktitle = "2014 IEEE/RSJ International Conference on Intelligent Robots and Systems",
note = "2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 ; Conference date: 14-09-2014 Through 18-09-2014",
}