Introduces probabilistically complete and asymptotically optimal sampling-based planners for multi-modal multi-robot multi-goal path planning by adapting standard methods to the composite space of all robots.
Informed RRT*: Optimal sampling-based path planning focused via direct sampling of an admissible ellipsoidal heuristic,
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Sampling-Based Multi-Modal Multi-Robot Multi-Goal Path Planning
Introduces probabilistically complete and asymptotically optimal sampling-based planners for multi-modal multi-robot multi-goal path planning by adapting standard methods to the composite space of all robots.