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Accelerating Kinodynamic RRT* Through Dimensionality Reduction

By Dongliang Zheng and Panagiotis Tsiotras
Sampling-based motion planning algorithms such as RRT* are well-known for their ability to quickly find an initial solution and then converge to the optimal solution asymptotically. However, the convergence rate can be slow for highdimensional planning problems, particularly for dynamical systems where the sampling space is not just the configuration... Show more
July 2, 2021
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Accelerating Kinodynamic RRT* Through Dimensionality Reduction
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