FMTX extends FMT* with a cost-based re-evaluation rule and local obstacle repair so the same sampled tree can be replanned efficiently after environment changes, with claimed asymptotic optimality.
Proceedings 2000 ICRA
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FMT$^{x}$: An Efficient and Asymptotically Optimal Extension of the Fast Marching Tree for Dynamic Replanning
FMTX extends FMT* with a cost-based re-evaluation rule and local obstacle repair so the same sampled tree can be replanned efficiently after environment changes, with claimed asymptotic optimality.