Effort Informed Roadmaps (EIRM*): Efficient Asymptotically Optimal Multiquery Planning by Actively Reusing Validation Effort

Multiquery planning algorithms find paths between various different starts and goals in a single search space. They are designed to do so efficiently by reusing information across queries. This may be computed before or during the often includes knowledge of valid paths. Using known solve an individual query takes less computational effort than finding completely new solution. allows multiquery algorithms, such as PRM*, outperform single-query RRT*, on many problems but their relative performance depends how much is reused. Despite this, few planners explicitly seek maximize path reuse and, result, not consistently alternatives. paper presents Effort Informed Roadmaps (EIRM*), almost-surely asymptotically optimal algorithm that prioritizes effort. EIRM* uses asymmetric bidirectional identify existing help then this order its reduce it initial solutions up order-of-magnitude faster state-of-the-art tested abstract robotic problems.