Track A* is a beam-pruned A* planner on a 4D spatio-temporal grid that finds high-quality visibility-aware tracking trajectories 23x faster on average than unoptimized A* with only a 0.15 pp visibility drop.
Enable faster and smoother spatio-temporal trajectory planning for autonomous vehicles in constrained dynamic environment,
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Track A*: Fast Visibility-Aware Trajectory Planning for Active Target Tracking
Track A* is a beam-pruned A* planner on a 4D spatio-temporal grid that finds high-quality visibility-aware tracking trajectories 23x faster on average than unoptimized A* with only a 0.15 pp visibility drop.