Melvin's digital garden

Strict Theta*: shorter motion planning using taut paths

speaker: Oh Shunhao event: RAS group meeting

ANYA algorithm

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


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


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

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