… The lazy state contraction (LSC) heuristic is a simple path … the replanning heuristic depends
on the motion planner used … This execution of RRT* on small segments of a global path …

… , we treat motion planning as a graph search problem, and employ Shared Multi-heuristic A*
… robot’s base frame with respect to some global reference frame. For a humanoid robot with …

… planning algorithm(such as A* or JPS) on the grid map afterward. • The collision check can
be removed from the motion planning … global planner on the global map with the local planner …

… detection and ranging systems, cameras, global positioning system or inertial navigation
system … Real-time motion planning with efficient navigation is critical to the successful use of …

… In the second stage, we discuss the global … heuristic suffices: the priority of a robot equals
the roadmap distance between its start and goal vertex. The rationale behind this heuristic is, …

… is defined as a solve-algorithm based on logic and heuristic approaches. They are part of …
not guarantee global optimality and accuracy. The most convenient interpretation of heuristic …

… and a deliberative global planning system operating on the kilometer scale. Such … problem
of motion planning under differential constraints to unconstrained, replanning heuristic search…

… proposed in this paper plans globally-optimal trajectories based on time and control efforts.
… Heuristic Function We proposed two different heuristics in Sec. III-D: denote the first one that …

This paper is concerned with the planning problem of smooth global path for mobile robots
with kinematic constraints. A new approach is proposed that is based on a modified particle …

… component heuristics alone. For more details concerning the benefit of this combined heuristic
… Our lattice-based global planner is able to efficiently generate feasible global paths over …