RRT# (RRT-Sharp)

RRT# is an asymptotically optimal sampling-based motion planning algorithm that guarantees convergence to the optimal path. It extends the RRT* algorithm by efficiently managing the graph structure to allow for rapid replanning and convergence.

Key Features

• Asymptotic Optimality: Converges to the optimal solution as the number of samples increases.
• Efficient Replanning: Capable of adapting the tree structure dynamically.
• Graph Management: Maintains a consistent graph for optimal path extraction.
• Standard Implementation: Provides a reference implementation of the algorithm.

Applications

• High-dimensional motion planning
• Robot arm manipulation
• Autonomous navigation in cluttered environments

Technical Details

• Language: C++
• Algorithm: RRT# (Rapidly-exploring Random Graph)
• Dependencies: Standard C++ libraries

Visit the GitHub repository for the source code and examples.