# On the Local Planners in the RRT* for Dynamical Systems and Their Reusability for Compound Cost Functionals

> Research article (IEEE Transactions on Robotics, 2021) · cited 15× · AI/ML

**Wikidata**: [openalex:W3196075878](https://www.wikidata.org/wiki/openalex:W3196075878)  
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