High dimensional state spaces

Even if the O(Nlog N) complexity of the Fast Marching algorithm is similar to the complexity of classical discrete grid-search algorithms, FM based trajectory planners are suitable for C-spaces with only a few numbers of dimensions (at most three in practice). The DFM algorithm improves re-planning efficiency of trajectory planners in unpredictable or a priori unknown environments. Nonetheless, further research would benefit from the addition of a heuristic to the DFM algorithm in order to speed up its exploration capacities.

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