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I didn't read the paper fully, so I don't know if this was stated already, but the mechanism of swapping points would grow the path from both ends, which I think would lead to more graceful obstacle avoidance than just growing the path from A to B. Make a segment from A in the direction of B, then make a segment from B in the direction of A. Keep ...


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A* is a graph search method, so there is no real difference from the general family. It is different from the standard depth-first search and breadth-first search in that the search order differs. How it works and how it differs from DFS and BFS becomes quite clear when looking at pseudo-code: root_node = ... cost = 0 # distance target_node = ... # a ...


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tl;dr: don't worry about it Your system really operates in continuous time, described by differential equations. It's a convenient, even necessary, approximation to use discrete time and difference equations. The dynamics solution would result from integrating the differential equations; the difference equations approximately solve the problem by doing ...


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