Towards benchmarking sampling-based kinodynamic motion planners with ml4kp

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idb-a*: Iterative search and optimization for optimal kinodynamic motion planning

J Ortiz-Haro, W Hönig, VN Hartmann… - IEEE Transactions on …, 2024 - ieeexplore.ieee.org
Motion planning for robotic systems with complex dynamics is a challenging problem. While
recent sampling-based algorithms achieve asymptotic optimality by propagating random …
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iDb-RRT: Sampling-based Kinodynamic Motion Planning with Motion Primitives and Trajectory Optimization

J Ortiz-Haro, W Hönig, VN Hartmann… - arxiv preprint arxiv …, 2024 - arxiv.org
Rapidly-exploring Random Trees (RRT) and its variations have emerged as a robust and
efficient tool for finding collision-free paths in robotic systems. However, adding dynamic …
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