Batch Informed Trees (BIT*)

2023/02/22 by James Swedeen, Swedeen, James, Greg Droge +1
Biochemistry, Genetics and Molecular Biology · Computer Science · #Algorithms and Data Compression #DNA and Biological Computing #FOS: Computer and information sciences #Robotic Path Planning Algorithms #Robotics (cs.RO)

paper · pdf · doi:10.48550/arxiv.2302.11670

openalex publication_date 2023/02/22 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28

Abstract

Path planning through complex obstacle spaces is a fundamental requirement of many mobile robot applications. Recently a rapid convergence path planning algorithm, Batch Informed Trees (BIT*), was introduced. This work serves as a concise write-up and explanation of BIT*. This work includes a description of BIT* and how BIT* operates, a graphical demonstration of BIT*, and simulation results where BIT* is compared to Optimal Rapidly-exploring Random Trees (RRT*).

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