An asymptotically-optimal sampling-based algorithm for Bi-directional motion planning

Joseph A. Starek, Javier V. Gomez, Edward Schmerling, Lucas Janson, Luis Moreno, Marco Pavone. An asymptotically-optimal sampling-based algorithm for Bi-directional motion planning. In 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015, Hamburg, Germany, September 28 - October 2, 2015. pages 2072-2078, IEEE, 2015. [doi]