Lecture

Effort Informed Roadmaps: Efficient Multiquery Planning with EIRM*

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Description

This lecture presents Effort Informed Roadmaps (EIRM*), a multiquery planner that actively reuses information to efficiently solve multiple planning problems. EIRM* manages graph size, provides quick initial solutions, and ensures almost-sure asymptotic optimality. By reusing known-valid edges and managing graph size effectively, EIRM* significantly reduces solution time and improves query success rates.

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Related concepts (12)

Efficiency

Efficiency is the often measurable ability to avoid wasting materials, energy, efforts, money, and time while performing a task. In a more general sense, it is the ability to do things well, successfully, and without waste. In more mathematical or scientific terms, it signifies the level of performance that uses the least amount of inputs to achieve the highest amount of output. It often specifically comprises the capability of a specific application of effort to produce a specific outcome with a minimum amount or quantity of waste, expense, or unnecessary effort.

Asymptotic analysis

In mathematical analysis, asymptotic analysis, also known as asymptotics, is a method of describing limiting behavior. As an illustration, suppose that we are interested in the properties of a function f (n) as n becomes very large. If f(n) = n2 + 3n, then as n becomes very large, the term 3n becomes insignificant compared to n2. The function f(n) is said to be "asymptotically equivalent to n2, as n → ∞". This is often written symbolically as f (n) ~ n2, which is read as "f(n) is asymptotic to n2".

Thermal efficiency

In thermodynamics, the thermal efficiency () is a dimensionless performance measure of a device that uses thermal energy, such as an internal combustion engine, steam turbine, steam engine, boiler, furnace, refrigerator, ACs etc. For a heat engine, thermal efficiency is the ratio of the net work output to the heat input; in the case of a heat pump, thermal efficiency (known as the coefficient of performance) is the ratio of net heat output (for heating), or the net heat removed (for cooling) to the energy input (external work).

Asymptotic expansion

In mathematics, an asymptotic expansion, asymptotic series or Poincaré expansion (after Henri Poincaré) is a formal series of functions which has the property that truncating the series after a finite number of terms provides an approximation to a given function as the argument of the function tends towards a particular, often infinite, point. Investigations by revealed that the divergent part of an asymptotic expansion is latently meaningful, i.e. contains information about the exact value of the expanded function.

Energy conversion efficiency

Energy conversion efficiency (η) is the ratio between the useful output of an energy conversion machine and the input, in energy terms. The input, as well as the useful output may be chemical, electric power, mechanical work, light (radiation), or heat. The resulting value, η (eta), ranges between 0 and 1. Energy conversion efficiency depends on the usefulness of the output. All or part of the heat produced from burning a fuel may become rejected waste heat if, for example, work is the desired output from a thermodynamic cycle.

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