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How does one obtain an admissible heuristic for a kinodynamic motion planningproblem? This paper develops the analytical tools and techniques to answer thisquestion. A sufficient condition for the admissibility of a heuristic ispresented which can be checked directly from the problem data. This conditionis also used to formulate a concave program to optimize an admissibleheuristic. This optimization is then approximated and solved in polynomial timeusing sum-of-squares programming techniques. A number of examples are providedto demonstrate these concepts.

Design of Admissible Heuristics for Kinodynamic Motion Planning via Sum-of-Squares Programming