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Incremental Sampling-based Motion Planners Using Policy Iteration Methods
Contrary to the RRT* algorithm, the policy improvement during the rewiring step is not performed only locally but rather on a set of vertices that are classified as "promising" during the current iteration.
Sampling-based Algorithms for Optimal Motion Planning Using Closed-loop Prediction
We describe a new sampling-based algorithm, called CL-RRT#, which leverages ideas from the RRT# algorithm and a variant of the RRT algorithm that generates trajectories using closed-loop prediction.
Robotics
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