Batch Informed Trees (BIT*): Informed Asymptotically Optimal Anytime Search (IJRR 2020)

Jonathan Gammell's journal paper on ordered search of continuous planning problems has appeared in the International Journal of Robotics Research (IJRR). The paper includes the planning algorithms Batch Informed Trees (BIT*) and Sorted RRT* (SORRT*). You can read an open-access version of it on arXiv.
J. D. Gammell, T. D. Barfoot, S. S. Srinivasa. “Batch Informed Trees (BIT*): Informed asymptotically optimal anytime search.” The International Journal of Robotics Research (IJRR), 2020.