Resolution complete rapidly-exploring random trees

Peng Cheng, Steven M. LaValle

Research output: Contribution to journalConference article


Trajectory design for high-dimensional systems with nonconvex constraints has considerable success recently; however, the resolution completeness analysis for various methods is insufficient. In this paper, based on Lipschitz condition and the accessibility graph, conditions for resolution completeness are derived. By combining the systematic search with randomized technique, a randomized planner is transformed to be a deterministic resolution complete planner, which shows reliable performance in the simulation.

Original languageEnglish (US)
Pages (from-to)267-272
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
StatePublished - Jan 1 2002
Event2002 IEEE International Conference on Robotics and Automation - Washington, DC, United States
Duration: May 11 2002May 15 2002

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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