This directory has three main components:
- A way to construct environments (nonasymptotic/envs.py).
- Multiple implementations of the radius and PRM algorithms [1] (nonasymptotic/prm.py).
- Numerical computations of the sample-complexity bound (e.g. Algorithm 2 in the paper) (nonasymptotic/bound.py).
[1] Karaman S, Frazzoli E. Sampling-based algorithms for optimal motion planning. The International Journal of Robotics Research. 2011;30(7):846-894.