CASSR: Continuous A-Star Search through Reachability for real time footstep planning

arXiv:2603.02989v2 Announce Type: replace Abstract: Footstep planning involves a challenging combinatorial search. Traditional A* approaches require discretising reachability constraints, while Mixed-Integer Programming (MIP) supports continuous formulations but quickly become...

🔗 Read more: https://arxiv.org/abs/2603.02989

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