Ultrafast Sampling-based Kinodynamic Planning via Differential Flatness

arXiv:2603.16059 · cs.RO · Submitted 2026-03-17 · Read on arXiv

cs.RO

Submitted: 2026-03-17

Updated: 2026-09-17

Terminology

• Trace — 16× in this paper · explained in 2 episodes
• Benchmark — 6× in this paper · explained in 2 episodes
• Motion Primitives — 6× in this paper · explained in 2 episodes
• Pruning — 5× in this paper · explained in 4 episodes
• Theoretical Guarantees — 5× in this paper · explained in 2 episodes
• Accuracy — 4× in this paper · explained in 1 episode
• Benchmarking — 4× in this paper · explained in 3 episodes
• Curse of Dimensionality — 2× in this paper · explained in 6 episodes
• Linear Quadratic Minimum Time — 2× in this paper
• Objective Function — 2× in this paper · explained in 2 episodes
• Core — 1× in this paper · explained in 2 episodes
• Graph Construction — 1× in this paper · explained in 3 episodes
• Personalization — 1× in this paper · explained in 2 episodes
• Steering — 1× in this paper · explained in 2 episodes

Sources

• SRMP: Search-Based Robot Motion Planning Library
• Parallel Simulation of Contact and Actuation for Soft Growing Robots

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