TL-RRT* is a tree-based, abstraction-free sampling planner for multi-robot LTL tasks, claimed to be probabilistically complete and asymptotically optimal.
Rrt-connect: An efficient approach to single-query path planning,
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An Abstraction-Free Method for Multi-Robot Temporal Logic Optimal Control Synthesis
TL-RRT* is a tree-based, abstraction-free sampling planner for multi-robot LTL tasks, claimed to be probabilistically complete and asymptotically optimal.