Cost reduction 1 Distance minimizations 1 Iterative methods 1 Motion planning 1 Optimal solutions 1 Optimization approach 1 Path planning problems 1 Rapidly-exploring random trees 1 Reduction algorithms 1 Robot path-planning 1 Robot programming 1 Simplification 1 Tree algorithms Trees (mathematics) 1 Waypoints 1 distance minimization 1 optimization approach 1 path planning 1 reduction algorithm 1 simplification 1