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Enhanced SIRRT*: A Structure-Aware RRT* for 2D Path Planning with Hybrid Smoothing and Bidirectional Rewiring
Sampling-based motion planners such as Rapidly-exploring Random Tree* (RRT*) and its informed variant IRRT* are widely used for optimal path planning in complex environments. However, these methods often suffer from slow convergence and high variance due to their reliance on random sampling, particu
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