{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/biait-symmetrical-bidirectional-optimal-path","title":"BiAIT*: Symmetrical Bidirectional Optimal Path Planning with Adaptive Heuristic","arxiv_id":"2205.06940","date":"2022-05-14","proceeding":null,"authors":["Chenming Li","Han Ma","Peng Xu","Jiankun Wang","Max Q. -H. Meng"],"abstract":"Adaptively Informed Trees (AIT*) is an algorithm that uses the problem-specific heuristic to avoid unnecessary searches, which significantly improves its performance, especially when collision checking is expensive. However, the heuristic estimation in AIT* consumes lots of computational resources, and its asymmetric bidirectional searching strategy cannot fully exploit the potential of the bidirectional method. In this article, we propose an extension of AIT* called BiAIT*. Unlike AIT*, BiAIT* uses symmetrical bidirectional search for both the heuristic and space searching. The proposed method allows BiAIT* to find the initial solution faster than AIT*, and update the heuristic with less computation when a collision occurs. We evaluated the performance of BiAIT* through simulations and experiments, and the results show that BiAIT* can find the solution faster than state-of-the-art methods. We also analyze the reasons for the different performances between BiAIT* and AIT*. Furthermore, we discuss two simple but effective modifications to fully exploit the potential of the adaptively heuristic method.","url_abs":"https://arxiv.org/abs/2205.06940v2","url_pdf":"https://arxiv.org/pdf/2205.06940v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"links_only","authors_date_abstract":"arXiv metadata, CC0 1.0 (https://info.arxiv.org/help/license), from the Kaggle arXiv metadata snapshot of 2026-09-12"},"code_links":[{"paper_slug":"biait-symmetrical-bidirectional-optimal-path","repo_url":"https://github.com/licmjy-cu/biaitstar","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"none","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}