Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Optimised Informed RRTs for Mobile Robot Path Planning   Path planners based on basic rapidly-exploring random trees (RRTs) are quick
and efficient, and thus favourable for real-time robot path planning, but are
almost-surely suboptimal. In contrast, the optimal RRT (RRT*) converges to the
optimal solution, but may be expensive in practice. Recent work has focused on
accelerating the RRT*'s convergence rate. The most successful strategies are
informed sampling, path optimisation, and a combination thereof. However,
informed sampling and its combination with path optimisation have not been
applied to the basic RRT. Moreover, while a number of path optimisers can be
used to accelerate the convergence rate, a comparison of their effectiveness is
lacking. This paper investigates the use of informed sampling and path
optimisation to accelerate planners based on both the basic RRT and the RRT*,
resulting in a family of algorithms known as optimised informed RRTs. We apply
different path optimisers and compare their effectiveness. The goal is to
ascertain if applying informed sampling and path optimisation can help the
quick, though almost-surely suboptimal, path planners based on the basic RRT
attain comparable or better performance than RRT*-based planners. Analyses show
that RRT-based optimised informed RRTs do attain better performance than their
RRT*-based counterparts, both when planning time is limited and when there is
more planning time.

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The categories of this paper are: quant-ph
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The categories of this paper are: comp-gas
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The categories of this paper are: hep-ex
11
The categories of this paper are: hep-lat
33
The categories of this paper are: plasm-ph
23
The categories of this paper are: solv-int
37
The categories of this paper are: supr-con
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The categories of this paper are: hep-th
36
The categories of this paper are: cmp-lg
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The categories of this paper are: ao-sci
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The categories of this paper are: q-bio
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The categories of this paper are: q-alg
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The categories of this paper are: adap-org
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The categories of this paper are: chao-dyn
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The categories of this paper are: econ
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The categories of this paper are: acc-phys