AURA: Asymptotically Optimal Uncertainty-Robust Replanning Algorithm for Kinodynamic Systems

Seyedali Golestaneh, Zhuoyun Zhong, Donghyung Lee +1

Sampling-based motion planners offer a practical and scalable approach to kinodynamic motion planning, notably for high-dimensional, underactuated, or non-holonomic systems. Howeve…