Completeness of randomized kinodynamic planners with state-based steering

• Main Authors: Caron, Stephane, Pham, Quang-Cuong, Nakamura, Yoshihiko
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Conference or Workshop Item
• Language: English
• Published: 2017
• Subjects: Planning; Trajectory
• Online Access: https://hdl.handle.net/10356/83223; http://hdl.handle.net/10220/42491
• Institution: Nanyang Technological University

The panorama of probabilistic completeness results for kinodynamic planners is still confusing. Most existing completeness proofs require strong assumptions that are difficult, if not impossible, to verify in practice. To make completeness results more useful, it is thus sensible to establish a clas...