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A variety of LQR-RRT kinodynamic motion planners are built on the idea of solving a two point boundary value problem in an LQR manner for affine systems. These planners can also be used for controllable nonlinear systems only if its linearized model at the equilibrium state is also controllable, and the cost function reflects only a time/control trade-off. We propose a class of RRT planners based on the SDRE (State Dependent Riccati Equation) control paradigm. The SDRE control is used both fordoi:10.23919/acc.2018.8431412 dblp:conf/amcc/TahirovicJ18 fatcat:hwb7bv5cdvcgxkslqjcnb4es7e