KiTE-Extend uses offline-computed translation-invariant trajectory bundles to improve action selection in kinodynamic MRMP, reducing planning time and scaling better across centralized, prioritized, and conflict-based paradigms without altering planner guarantees.
Sampling-based optimal kinodynamic planning with motion primitives.Autonomous Robots, 43(7):1715– 1732
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Efficient Multi-Robot Motion Planning with Precomputed Translation-Invariant Edge Bundles
KiTE-Extend uses offline-computed translation-invariant trajectory bundles to improve action selection in kinodynamic MRMP, reducing planning time and scaling better across centralized, prioritized, and conflict-based paradigms without altering planner guarantees.