BTIT* is the first anytime MEET-style kinodynamic planner that uses efficient-to-evaluate termination conditions for early on-the-fly stopping while preserving asymptotic optimality.
Batch informed trees (BIT*): Sampling-based optimal planning via the heuristically guided search of implicit random geometric graphs,
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Optimal Kinodynamic Motion Planning Through Anytime Bidirectional Heuristic Search with Tight Termination Condition
BTIT* is the first anytime MEET-style kinodynamic planner that uses efficient-to-evaluate termination conditions for early on-the-fly stopping while preserving asymptotic optimality.