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E* Interpolated Graph Replanner

Copyright (C) 2004, 2005 Swiss Federal Institute of Technology, Lausanne
Copyright (C) 2005, 2006,2007 Roland Philippsen <roland dot philippsen at gmx net>
Released under the GNU General Public License, version 2.

The E* algorithm is a path planner for (mobile) robotics. Unlike A*, which constrains movements to graph edges, it produces smooth trajectories by interpolating between edges. Like D*, it supports dynamic replanning after local path cost changes. E* was originally developed for a PhD thesis (chapter 4) at the Autonomous Systems Lab (ASL) of the Swiss Federal Institute of Technology (ETH) in Zürich (at that time the ASL was at its sister institution EPFL in Lausanne).

E* is written in C++ and provides an extensible infrastructure for trying out new interpolation methods and various types of C-space representations. The README file contains information on getting started. The C++ infrastructure is a tad heavy for embedded applications: if you need something leaner, have a look at the dtrans project (which comes with a Python module, by the way).

Have a look at the Frequently Asked Questions (with answers, of course). They are also available in German and French, with possibly different questions and answers.