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. 2017 Nov 2;17(11):2514. doi: 10.3390/s17112514
Algorithm 2 Branch(N)
  • Require: 

    motion model ψ

  • 1:

    for all available actions i from ψ do

  • 2:

     T=ψ(N.T,i)      //roll out trajectory using motion model

  • 3:

     Ni.T←T            //append to new search node

  • 4:

    end for

  • 5:

    return [N1,N2,…,Nm]