12. "steer" -- Use random control input for `steer1`, use R&S for `steer2`.
13. "path optimization" -- Dijkstra algorithm, goal zone for interesting nodes.
14. "sampling" -- uniform sampling in circle between init, goal (rad = edist)
12. "steer" -- Use random control input for `steer1`, use R&S for `steer2`.
13. "path optimization" -- Dijkstra algorithm, goal zone for interesting nodes.
14. "sampling" -- uniform sampling in circle between init, goal (rad = edist)