An exact algorithm for kinodynamic planning in the plane. Discrete Computational Geometry, 6:461–484 (1991)

by J Canny, A Rege, J Reif
Venue:3 2∆t 4 for m = 0 to M 5 tm ← m · ∆t 6 Pm ← maximal packing of radius-R disks in Ω(tm) ✄ with (ΓI, ΓO)-coverage. 7 endfor 8 P ← S m Pm 9 G ← motion graph on P 10 F ∗ ← {(e1, e2) ∈ E | P(e1, e2) < 2R 2 } ✄ Forbidden