Refined Analysis of Asymptotically-Optimal Kinodynamic Planning in the State-Cost Space
Michal Kleinbort,Edgar Granados,Kiril Solovey,Riccardo Bonalli,Kostas E. Bekris,Dan Halperin,Michal Kleinbort,Edgar Granados,Kiril Solovey,Riccardo Bonalli,Kostas E. Bekris,Dan Halperin
We present a novel analysis of AO-RRT: a tree-based planner for motion planning with kinodynamic constraints, originally described by Hauser and Zhou (AO-X, 2016). AO-RRT explores the state-cost space and has been shown to efficiently obtain high-quality solutions in practice without relying on the availability of a computationally-intensive two-point boundary-value solver. Our main contribution i...
