Other tree-based planners

Many other tree-based planners can be extended to handle differential constraints. For example, an extension of the expansive space planner from Section 5.4.4 to kinodynamic planning for spacecrafts appears in [466]. Recently, a new tree-based method, called the path-directed subdivision tree, has been proposed for planning under differential constraints [572]. The method works by choosing points at random in the swath, applying random actions, and also using a space-partition data structure to control the exploration.