TY - JOUR

T1 - Erratum

T2 - Probabilistic Completeness of RRT for Geometric and Kinodynamic Planning with Forward Propagation (IEEE Robotics and Automation Letters (2019) 4:2 (277-283) DOI: 10.1109/LRA.2018.2888947)

AU - Kleinbort, Michal

AU - Solovey, Kiril

AU - Littlefield, Zakary

AU - Bekris, Kostas E.

AU - Halperin, Dan

N1 - Publisher Copyright:
© 2022 IEEE.

PY - 2023/2/1

Y1 - 2023/2/1

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=85147679446&partnerID=8YFLogxK

U2 - 10.1109/LRA.2023.3236496

DO - 10.1109/LRA.2023.3236496

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AN - SCOPUS:85147679446

SN - 2377-3766

VL - 8

SP - 1149

EP - 1150

JO - IEEE Robotics and Automation Letters

JF - IEEE Robotics and Automation Letters

IS - 2

ER -