APT* combines adaptive batch sizing with elliptical nearest-neighbor regions defined by a Coulomb-like force to speed up sampling-based path planning.
OpenRA VE: A planning architecture for autonomous robotics,
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APT*: Asymptotically Optimal Motion Planning via Adaptively Prolated Elliptical R-Nearest Neighbors
APT* combines adaptive batch sizing with elliptical nearest-neighbor regions defined by a Coulomb-like force to speed up sampling-based path planning.