The Open Motion Planning Library (2012)

by I A S¸ucan, M Moll, L E Kavraki
Venue:Ta ← {cI}, Tb ← {randomState(G)} 2 F ← True // True when extending forwards 3 while True 4 if F : Tb ← Tb ∪ {randomState(G)} 5 s ← SAMPLE(M) t ← arg minv∈TaDistance(v, s, M, A, F ) {c1, ..., cl} ← EXTEND(t, s, M, B, A, F ) 8 Ta ← Ta ∪ {c1, ..., cl} 9 if l