@TechReport{Jankovec-TR-2014-24,
  IS = { zkontrolovano 20 Jan 2015 },
  UPDATE  = { 2015-01-20 },
author =      {Jankovec, Tom and Petr{\'\i}k, Vladim{\'\i}r},
title =       {{OMPL} {RRTstar} Planner Modification},
institution = {Center for Machine Perception, K13133 FEE
               Czech Technical University},
address =     {Prague, Czech Republic},
year =        {2014},
month =       {December},
type =        {Research Report},
number =      {CTU--CMP--2014--24},
issn =        {1213-2365},
pages =       {8},
figures =     {6},
authorship =  {50-50},
psurl       = {[Jankovec-TR-2014-24.pdf]},
project =     {FP7-288553 CloPeMa, TACR TE01020197},
annote =      {The OMPL library provides an implementation of the RRTstar
               algorithm which is less than optimal for the CloPeMa
               project. By making a few small changes its performance can
               be drastically improved to the extent of surpassing the
               previously selected RRTConnect algorithm.},
keywords =    {manipulator, trajectory, planing},
}