An Admissible Heuristic to Improve Convergence in Kinodynamic Planners Using Motion Primitives.

This letter introduces a new heuristic function that can be incorporated in any kinodynamic planner using motion primitives, to the purpose of increasing its convergence rate. The heuristic function is proven to be admissible and, hence, the optimality properties of the planning algorithm are preserved. Notably, it can be applied to planning problems with generic agent motion models and cost crite...