John Pohovey

Neural Informed RRT*: Learning-based Path Planning with Point Cloud State Representations under Admissible Ellipsoidal Constraints

Sampling-based planning algorithms like Rapidly-exploring Random Tree (RRT) are versatile in solving path planning problems. RRT* offers asymptotic optimality but requires growing the tree uniformly over the free space, which leaves room for efficiency improvement. To accelerate convergence, rule-ba…