Zeta* and Zeta*-SIPP use elliptical expansion and improved visibility to deliver optimal any-angle paths on grids, with Zeta*-SIPP over 20x faster than prior dynamic planners.
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Optimal any-angle path planning in static and dynamic environments
Zeta* and Zeta*-SIPP use elliptical expansion and improved visibility to deliver optimal any-angle paths on grids, with Zeta*-SIPP over 20x faster than prior dynamic planners.