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Recently, rapidly-exploring random trees(RRT) is widely used in path planning for its nature of single-query. The optimized algorithm RRT∗ extends RRT algorithm to find the optimal path, but it needs to search every state from the initial state to the global scope asymptotically. This method is not only inefficient, but also contrary to the single-query of RRT. In this paper, a new variant of RRT∗-Gb...
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