iros2024

GSRM: Building Roadmaps for Query-Efficient and Near-Optimal Path Planning Using a Reaction Diffusion System

The Paper

bibtex:

@misc{henkel2024gsrmbuildingroadmapsqueryefficient,
      title={GSRM: Building Roadmaps for Query-Efficient and Near-Optimal Path Planning Using a Reaction Diffusion System},
      author={Christian Henkel and Marc Toussaint and Wolfgang Hönig},
      year={2024},
      eprint={2410.11024},
      archivePrefix={arXiv},
      primaryClass={cs.RO},
      url={https://arxiv.org/abs/2410.11024},
}

Download PDF from arxiv

Presentation Video

The Implementation

• Please find the GSRM algorithm here: GSRM
• Please find the benchmark script, that also produces the plots from the paper here: Benchmark