{"paper":{"title":"Flexible Informed Trees (FIT*): Adaptive Batch-Size Approach in Informed Sampling-Based Path Planning","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Alois Knoll, Fan Wu, Kejia Chen, Kuanqi Cai, Liding Zhang, Lingyun Chen, Peter Krumbholz, Sami Haddadin, Yu Zhang, Zhenshan Bing, Zhilin Yuan","submitted_at":"2023-10-19T15:25:05Z","abstract_excerpt":"In path planning, anytime almost-surely asymptotically optimal planners dominate the benchmark of sampling-based planners. A notable example is Batch Informed Trees (BIT*), where planners iteratively determine paths to batches of vertices within the exploration area. However, utilizing a consistent batch size is inefficient for initial pathfinding and optimal performance, it relies on effective task allocation. This paper introduces Flexible Informed Trees (FIT*), a sampling-based planner that integrates an adaptive batch-size method to enhance the initial path convergence rate. FIT* employs a"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2310.12828","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2310.12828/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}