ST-pRRTC: Parallel Space-Time RRT-C with Adaptive Goal-Time Forests

arXiv:2609.30533 · cs.RO · Submitted 2026-09-24 · Read on arXiv

cs.RO

Submitted: 2026-09-24

Updated: 2026-09-24

Terminology

• Benchmark — 8× in this paper · explained in 2 episodes
• Ablation — 5× in this paper · explained in 1 episode
• Core — 2× in this paper · explained in 2 episodes
• Local Optimization — 1× in this paper · explained in 2 episodes
• Steering — 1× in this paper · explained in 2 episodes
• Theoretical Guarantees — 1× in this paper · explained in 2 episodes

Sources

• pRRTC: GPU-Parallel RRT-Connect for Fast, Consistent, and Low-Cost Motion Planning
• cuRoboV2: Dynamics-Aware Motion Generation with Depth-Fused Distance Fields for High-DoF Robots
• Probabilistic completeness of RRT for geometric and kinodynamic planning with forward propagation

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