DIT* speeds up sampling-based path planning by removing edges that point away from the goal and scoring remaining edges with a weighted-direction cost.
Benchmarking motion planning algorithms: An extensible infrastructure for analysis and visualization,
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Direction Informed Trees (DIT*): Optimal Path Planning via Direction Filter and Direction Cost Heuristic
DIT* speeds up sampling-based path planning by removing edges that point away from the goal and scoring remaining edges with a weighted-direction cost.