55, J. Gammell, Effort Informed Roadmaps (EIRM*)
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From Aude Billard
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Effort Informed Roadmaps (EIRM*): Efficient Asymptotically Optimal Multiquery Planning by Actively Reusing Validation Effort
V. N. Hartmann, M. P. Strub, M. Toussaint, J. Gammell