A hybrid planner that builds a convex, guaranteed-feasible trajectory optimization around a sampling-based obstacle-free path, demonstrated online on a quadcopter.
Batch informed trees (BIT*): Sampling-based optimal planning via the heuristically guided search of implicit random geometric graphs,
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A Hybrid Method for Online Trajectory Planning of Mobile Robots in Cluttered Environments
A hybrid planner that builds a convex, guaranteed-feasible trajectory optimization around a sampling-based obstacle-free path, demonstrated online on a quadcopter.