planning tends to be very local wind sampling based lqr is a not that local it has a basin of Attraction and so combining both of those into lqr trees is pretty interesting and then the other thing you didn't cover was shortcutting typically when you use a sampling based motion planner you will at the end of a path that's very jagged short cutting is the idea that you just check if any of the steps along the way you can just skip because it's just a little bit of a detour and use a straight line instead of course depends on the dynamics of