Grid-based approches, including informed search, become computationally intractable for large state staces because space complexity increases exponentially with number of states.
Decrease the complexity using statistical sampling methods
- statistically complete
-  used reachability-guided sampling to further reduce computational cost
Turn RRT into a coverage problem
To deal with continuous state space
-  used a guassian process occupancy map
- How can localization uncertainty be considered in the above?
To deal with high-level objectives