Tutorial on Fast Marching Method - Robotics Algorithms & Motion ...

A* versus FM*
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A* = Breadth-First + heuristic
FM* = Fast Marching + heuristic
4-connexity A* (Nilsson, 1968) 4-connexity FM*
DTSI LIST – DTSI – Service Robotique Interactive
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On a grid with N points: FM complexity = A* complexity = O(N.log(N)):
• Maximum cost of sorting the queue: log(N)
• Maximum number of iterations: N
05/02/008
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