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City Optimal Sampling / Heuristic / Toronto / Sampling / / Company Robotic Systems / Simmons / Intel / / Country Jordan / United States / Canada / / / Facility Carnegie Mellon University / University of Toronto / The Robotics Institute / University of Toronto Institute / / IndustryTerm mobile robot navigation algorithm / near-optimal solutions / satellite attitude / shortest path algorithm / valid solution / distinct solutions / search subset / final solution / path-smoothing algorithm / outer product / informed incremental search / possible solutions / path-planning algorithms / search space / nearest-neighbour algorithm / suitable solution / / OperatingSystem Ubuntu / / Organization University of Toronto Institute for Aerospace Studies / Robotics Institute / office of Naval Research / MIT / Carnegie Mellon University / Pittsburgh / Natural Sciences and Engineering Research Council of Canada / University of Toronto / Ontario Ministry of Research and Innovation / Autonomous Space Robotics Lab / / Person J. J. Kuffner Jr. / S. M. LaValle / / / Position Young Investigator / planner / / ProvinceOrState Pennsylvania / Ontario / / Technology sampling-based algorithms / RRT* algorithm / RAM / C-FOREST algorithm / RRT*-based algorithms / Two-stage shortest path algorithm / Informed RRT* algorithm / path-smoothing algorithm / existing RRT* algorithms / planning Algorithm / RRT* algorithms / nearest-neighbour algorithm / path-planning algorithms / The algorithm / NFORMED RRT* An example algorithm / simulation / bidirectional RRT* algorithm / graph-based algorithms / RRT*-style algorithms / RRT*-Smart algorithm / Cloud RRT* algorithm / RRT# algorithm / mobile robot navigation algorithm / / URL http / SocialTag 
Informed RRT*: Optimal Sampling-based Path Planning Focused via Direct Sampling of an Admissible Ellipsoidal Heuristic Jonathan D. Gammell1 , Siddhartha S. Srinivasa2 , and Timothy D. Barfoot1 Abstract— Rapidly-explori