This page includes a list of extensions to OMPL provided by the community. The contributed code can be found under the ompl/src/ompl/contrib
directory in the OMPL source code. The contributed code has been written and tested by their respective authors listed below. Maintenance and support is also provided by the same authors. Please read the directions on writing a contribution and the suggested [style guide](styleGuide,html) if you would like to submit your own contribution.
RRT* (optimal RRT) is an asymptotically-optimal incremental sampling-based motion planning algorithm. RRT* algorithm is guaranteed to converge to an optimal solution, while its running time is guaranteed to be a constant factor of the running time of the RRT. The RRT* algorithm was introduced and analyzed in:
For more information on RRT* and its variants see http://ares.lids.mit.edu/rrtstar.
Ball Tree RRT* is an implementation of RRT* that incorporates Ball Trees to approximate connected regions of free space with volumes in configuration space instead of points. Every vertex added to the tree has an initial volume of an infinite radius associated with it. This radius is gradually reduced as collisions are found. All samples within any of the existing volumes are discarded. However, discarded samples are collision checked. If a collision is found, the nearest volume is trimmed at the collision point. Information from all collision checking procedures within iterations is also used to trim volumes accordingly. The Ball Tree RRT* was introduced in: