  A resolution complete optimal kinodynamic motion planning algorithm is
presented and described as a generalized label correcting (GLC) method. In
contrast to related algorithms, the GLC method does not require a local
planning subroutine and benefits from a simple implementation. The key
contributions of this paper are the construction and analysis of the GLC
conditions which are the basis of the proposed algorithm. Numerical experiments
demonstrate the running time of the GLC method to be less than the related SST
algorithm.
