Kinodynamic

Kinodynamic planning attempts to solve a robot motion problem subject to simultaneous kinematic and dynamics constraints. In the general problem, given a robot system, we must find a minimal-time trajectory that goes from a start position and velocity to a goal position and velocity. While exact solutions to this problem are not known, we provide the first provably-good approximation algorithm. and show that it runs in polynomial time.

Currently, state-of-the-art methods evolve around kinodynamic variants of popular sampling-based algorithms, such as Rapidly-exploring Random Trees (RRTs).