# Strict Theta*: shorter motion planning using taut paths

speaker: Oh Shunhao event: RAS group meeting

ANYA algorithm

- first optimal any-angle algorithm on grids
- http://harabor.net/data/papers/hgoa-oaapip-16.pdf

Theta* algorithm

Strict Theta*

- non taut paths are non optimal
- search only taut paths
- add tautness check
- how to check for tautness
- finite penalty

- to handle case where there is no solution
- recursive theta*

- back up the tree to find taut paths

results

- ratio are very small
- length ratio
- running time
- percentage of not taut/taut/optimal paths

comments

- Explain any angle with picture
- show both paths, optional and non-optimal