add Dominance-Informed Region Tree (DIRT)#1340
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Hi @aravindsiv I can help review this pull request. Before I give you a detailed review, can you 1) Fix any CI issues left, I think it's your own test that is failing, and 2) add a demo script in C++ (ideally in python as well) that demonstrates how to use DIRT? Maybe a simple control problem that benchmarks DIRT against SST? |
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Thanks Constantinos, I hope my latest commit will fix the failing build. For the demo script, is the test sufficient, or can you point me to a similar script in the repo I can use as an example? |
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Hi @aravindsiv since this is the geometric version of DIRT, I think it would make sense to add it here: https://github.com/ompl/ompl/blob/main/demos/OptimalPlanning.cpp , along with the geometric version of SST. Also just curious are you planning to also add the control version of DIRT? I think that one would be much more relevant, as the only AO control planner we have now is SST. |
Adds Dominance-Informed Region Tree (DIRT) [1]. Similar to SST, DIRT is also an AO kinodynamic planner. Relative to SST:
[1] Z. Littlefield and K. E. Bekris, "Efficient and Asymptotically Optimal Kinodynamic Motion Planning via Dominance-Informed Regions," 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, 2018, pp. 1-9, doi: 10.1109/IROS.2018.8593672.