Effort Informed Roadmaps: Efficient Multiquery Planning with EIRM*

This lecture presents Effort Informed Roadmaps (EIRM*), a multiquery planner that actively reuses information to efficiently solve multiple planning problems. EIRM* manages graph size, provides quick initial solutions, and ensures almost-sure asymptotic optimality. By reusing known-valid edges and managing graph size effectively, EIRM* significantly reduces solution time and improves query success rates.