Using state lattices for motion planning was new to me but seems like an elegant approach: http://people.csail.mit.edu/rak/www/sites/default/files/pubs/PivKneK

Using state lattices for motion planning was new to me but seems like an elegant approach: http://people.csail.mit.edu/rak/www/sites/default/files/pubs/PivKneKel09.pdf http://people.csail.mit.edu/rak/www/sites/default/files/pubs...