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Hi everyone! This follows up on #24, where I mentioned adding a bidirectional asymptotically optimal planner as an alternative to the existing AORRTC (G-RRT* is rewiring-based, as it builds on RRT*). It took a bit longer than expected, but here it is! The related publication can be found here.
I haven't updated the README yet - happy to do so once you're on board with including this planner in VAMP.
I tested this on the existing sphere cage problem. You can find some results below for both deterministic and randomized versions. I also included this test script, which might be useful for others to try out and use as a reference for adding new anytime planners.