# qRRT: Quality-Biased Incremental RRT for Optimal Motion Planning in Non-Holonomic Systems

arXiv: https://arxiv.org/abs/2101.02635 · HTML: https://mlsanity.com/paper/2101.02635/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 1 of its 17 references that are in the map.
- First posted on arXiv 7 Jan 2021.

## Builds on (most cited first, 1 of 1)

- [Informed RRT*: Optimal Sampling-based Path Planning Focused via Direct Sampling of an Admissible Ellipsoidal Heuristic](https://mlsanity.com/paper/1404.2334/) (2014)

## Abstract (arXiv)

This paper presents a sampling-based method for optimal motion planning in non-holonomic systems in the absence of known cost functions. It uses the principle of learning through experience to deduce the cost-to-go of regions within the workspace. This cost information is used to bias an incremental graph-based search algorithm that produces solution trajectories. Iterative improvement of cost information and search biasing produces solutions that are proven to be asymptotically optimal. The proposed framework builds on incremental Rapidly-exploring Random Trees (RRT) for random sampling-based search and Reinforcement Learning (RL) to learn workspace costs. A series of experiments were performed to evaluate and demonstrate the performance of the proposed method.