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Bidirectional Incremental Generalized Hybrid A*
arXiv:2605.30647v1 Announce Type: new Abstract: We focus on the problem of efficient anytime kinodynamic planning for systems with complex dynamics in unstructured environments that make precomputing motion primitives infeasible. Directly applying A* to such problems is computationally infeasible due to the curse of dimensionality. Methods such as Hybrid A* addressed this burden by discretizing the state space, but in turn creating a coupling between tree discovery and the discretization...