SBAMP combines RRT* global planning with an online Lyapunov-stable SEDS-inspired controller requiring no pre-trained data to enable real-time adaptation while keeping global path structure.
Anytime motion planning using the rrt*,
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SBAMP: Sampling Based Adaptive Motion Planning
SBAMP combines RRT* global planning with an online Lyapunov-stable SEDS-inspired controller requiring no pre-trained data to enable real-time adaptation while keeping global path structure.