Bidirectional Incremental Generalized Hybrid A*
Bidirectional Incremental Generalized Hybrid A* (Bi-IGHA) tackles planning in complex, nonlinear environments by combining incremental search with a bidirectional approach. It addresses performance issues arising from discretization choices and 'frozen vertex barriers' by using near-meet detection to connect forward and backward searches, significantly reducing the number of nodes expanded while maintaining solution guarantees.