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Informed RRT*: Optimal sampling-based path planning focused via direct sampling of an admissible ellipsoidal heuristic

Jonathan D. Gammell, Siddhartha S. Srinivasa, Timothy D. Barfoot. Informed RRT*: Optimal sampling-based path planning focused via direct sampling of an admissible ellipsoidal heuristic. In 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago, IL, USA, September 14-18, 2014. pages 2997-3004, IEEE, 2014. [doi]

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