arXiv:2509.20333 · v2
BBoE: Leveraging Bundle of Edges for Kinodynamic Bidirectional Motion Planning
摘要
In this work, we introduce BBoE, a bidirectional, kinodynamic, sampling-based motion planner that consistently and quickly finds solutions in environments with varying obstacle clutter. The algorithm combines exploration and exploitation while relying on precomputed robot motions, resulting in efficient convergence towards the goal. Our key contributions include: i) a strategy to quickly find solutions in obstacle-rich spaces by leveraging a bundle of precomputed robot motions (i.e., edges); and ii) BBoE, a robust bidirectional kinodynamic planner that utilizes this strategy to produce fast and feasible solutions. Across four systems spanning 3D to 6D state spaces, BBoE is the only planner to achieve $\geq96\%$ success on every system while attaining the lowest planning time on three of four.
作者备注：Accepted for publication in IEEE Robotics and Automation Letters (RA-L). Project Website: https://brsrikrishna.github.io/BBoE_RAL/