# Horizon-based lazy optimal RRT for fast, efficient replanning in dynamic environment

> Research article (Autonomous Robots, 2019) · cited 23× · AI/ML

**Wikidata**: [openalex:W2966170454](https://www.wikidata.org/wiki/openalex:W2966170454)  
**Source**: https://4ort.xyz/entity/horizon-based-lazy-optimal-rrt-for-fast-efficient-replanning-in-dynamic-environment