Corrections to "Probabilistic Completeness of RRT for Geometric and Kinodynamic Planning With Forward Propagation"

Michal Kleinbort, Kiril Solovey, Zakary Littlefield, Kostas E. Bekris, Dan Halperin

Abstract: Our original publication Kleinbort et al. (2019) contains an error in the analysis of the case of the kinodynamic RRT. Here, we rectify the problem by modifying the proof of Theorem 2, which, in particular, necessitated a revision of Lemma 3. Briefly, the original (and erroneous) proof of Theorem 2 used a sequence of equal-size balls. The correction uses a sequence of balls of increasing radii. We emphasize that the correction is in Lemma 3 and the proof of Theorem 2 only. The main results remain unchanged.