A Sampling-Based Tree Planner for Systems With Complex Dynamics

  title={A Sampling-Based Tree Planner for Systems With Complex Dynamics},
  author={Ioan Alexandru Sucan and Lydia E. Kavraki},
  journal={IEEE Transactions on Robotics},
This paper presents a kinodynamic motion planner, i.e., Kinodynamic Motion Planning by Interior-Exterior Cell Exploration (KPIECE), which is specifically designed for systems with complex dynamics, where integration backward in time is not possible, and speed of computation is important. A grid-based discretization is used to estimate the coverage of the state space. The coverage estimates help the planner detect the less-explored areas of the state space. An important characteristic of this… CONTINUE READING
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