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Time-optimal path-constrained trajectory planning is of significant importance for enhancing the work efficiency of robotic systems. In particular, when inadmissible island constraints are considered, existing approaches are typically offline. In order to solve the problem online, this paper proposes a heuristic tree-search-based any-time time-optimal trajectory planning algorithm to achieve incre...

Tree-Search-Based Any-Time Time-Optimal Path-Constrained Trajectory Planning With Inadmissible Island Constraints