14.3 Sampling-Based Motion Planning Revisited

Now that the preliminary concepts have been defined for motion planning under differential constraints, the focus shifts to extending the sampling-based planning methods of Chapter 5. This primarily involves extending the incremental sampling and searching framework from Section 5.4 to incorporate differential constraints. Following the general framework, several popular methods are covered in Section 14.4 as special cases of the framework. If an efficient BVP solver is available, then it may also be possible to extend sampling-based roadmaps of Section 5.6 to handle differential constraints.