{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,8,7]],"date-time":"2026-08-07T23:33:42Z","timestamp":1786145622997,"version":"3.56.0"},"reference-count":0,"publisher":"Association for the Advancement of Artificial Intelligence (AAAI)","issue":"43","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["AAAI"],"abstract":"<jats:p>We study a path planning problem where the possible move actions are represented as a finite set of motion primitives aligned with the grid representation of the environment. That is, each primitive corresponds to a short kinodynamically-feasible motion of an agent and is represented as a sequence of the swept cells of a grid. Typically, heuristic search, i.e. A*, is conducted over the lattice induced by these primitives (lattice-based planning) to find a path. However, due to the large branching factor, such search may be inefficient in practice. To this end, we suggest a novel technique rooted in the idea of searching over the grid cells (as in vanilla A*) simultaneously fitting the possible sequences of the motion primitives into these cells. The resultant algorithm, MeshA*, provably preserves the guarantees on completeness and optimality, on the one hand, and is shown to notably outperform conventional lattice-based planning (x1.5-x2 decrease in the runtime), on the other hand.<\/jats:p>","DOI":"10.1609\/aaai.v40i43.41004","type":"journal-article","created":{"date-parts":[[2026,3,18]],"date-time":"2026-03-18T06:39:57Z","timestamp":1773815997000},"page":"36785-36792","source":"Crossref","is-referenced-by-count":2,"title":["MeshA*: Efficient Path Planning with Motion Primitives"],"prefix":"10.1609","volume":"40","author":[{"given":"Marat","family":"Agranovskiy","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Konstantin","family":"Yakovlev","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"9382","published-online":{"date-parts":[[2026,3,14]]},"container-title":["Proceedings of the AAAI Conference on Artificial Intelligence"],"original-title":[],"link":[{"URL":"https:\/\/ojs.aaai.org\/index.php\/AAAI\/article\/download\/41004\/44965","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/ojs.aaai.org\/index.php\/AAAI\/article\/download\/41004\/44965","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,3,18]],"date-time":"2026-03-18T06:39:57Z","timestamp":1773815997000},"score":1,"resource":{"primary":{"URL":"https:\/\/ojs.aaai.org\/index.php\/AAAI\/article\/view\/41004"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,3,14]]},"references-count":0,"journal-issue":{"issue":"43","published-online":{"date-parts":[[2026,3,17]]}},"URL":"https:\/\/doi.org\/10.1609\/aaai.v40i43.41004","relation":{},"ISSN":["2374-3468","2159-5399"],"issn-type":[{"value":"2374-3468","type":"electronic"},{"value":"2159-5399","type":"print"}],"subject":[],"published":{"date-parts":[[2026,3,14]]}}}