1. Randomized Kinodynamic Planning S. M
Randomized Kinodynamic Planning S. M. LaValle and James Kuffner International Journal of Robotics Research, 20(5): , May 2001

2. Probabilistic Planning
Probabilistic Roadmap Methods (Overmars, Kavraki, Amato, Han)
Let q be a point in C-space,
Worst-case number of components is exponential in
worst-case sampling time is exponential in

3. Basic Rapidly-Exploring Random Tree Algorithm
Exploration is “encouraged” to head for open regions by EXTEND.

4. Voronio Bias

7. Underactuated Spacecraft

8. Forbidden Regions Induced by Dynamics with Finite Input Forces