Is it possible to add rrt*?

[BolunDai0216]

Is your feature request related to a problem? Please describe.
Right now the RRT-Connect planner sometimes generate very sub-optimal paths and changes drastically between two similar states.

Describe the solution you'd like
If a RRT* planner can be implemented I think it would solve this problem.

Describe alternatives you've considered
I thought about just changing the way the path is simplified however it can be seen that sometimes the two trees both are very sub-optimal which makes it harder even for shortcutting.

[zkingston]

We plan to add VAMP implementations of ASAO planners in the future. For now, you can:

• Run RRTC/PRM multiple times with different rng_skip_iterations to generate different paths (and or switch our RNG to something non-deterministic)
• Use the example script of integrating VAMP with OMPL to have access to the suite of ASAO planners available

I'll leave this issue open until an ASAO planner is added to VAMP.

[BolunDai0216]

@zkingston Thanks!

btw, what does ASAO stand for?

[zkingston]

ASAO = almost-surely asymptotically optimal, I was a bit too specific there on accident... take a look at https://arxiv.org/pdf/2009.10484 for a good explanation.