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Batch Informed Trees (BIT*) path planning algorithm
An asymptotically optimal sampling-based planner that combines RRT* rewiring with informed (ellipsoidal) sampling. Vertices are processed in batches ordered by potential solution cost, using a lazy edge evaluation strategy.
Structsยง
- BITStar
- Batch Informed Trees (BIT*) planner.
- BITStar
Config - Configuration for the BIT* planner.