We should implement ERRTs as described in this CMU Paper. The main difference is the use of the "waypoint cache". After a successful path plan, we save a fixed-length subset of the waypoints in a cache. The next path-planning iteration grows a new tree, but it is biased towards the previously-saved waypoints.
We should implement ERRTs as described in this CMU Paper. The main difference is the use of the "waypoint cache". After a successful path plan, we save a fixed-length subset of the waypoints in a cache. The next path-planning iteration grows a new tree, but it is biased towards the previously-saved waypoints.