AAAI Publications, Fourth Annual Symposium on Combinatorial Search

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Adapting a Rapidly-Exploring Random Tree for Automated Planning
Vidal Alcázar, Manuela Veloso, Daniel Borrajo

Last modified: 2011-07-05

Abstract


Rapidly-exploring random trees (RRTs) are data structures and search algorithms designed to be used in continuous path planning problems. They are one of the most successful state-of-the-art techniques as they offer a great degree of flexibility and reliability. However, their use in other search domains has not been thoroughly analyzed. In this work we propose the use of RRTs as a search algorithm for automated planning. We analyze the advantages that this approach has over previously used search algorithms and the challenges of adapting RRTs for implicit and discrete search spaces.

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