This paper introduces Bidirectional Tight Informed Trees (BTIT*), an asymptotically optimal kinodynamic sampling-based motion planning algorithm that integrates an anytime bidirectional heuristic search (Bi-HS) and ensures the \emph{meet-in-the-middle} property (MMP) and optimality (MM-optimality). BTIT* is the first anytime MEET-style algorithm to utilize termination conditions that are efficient to evaluate and enable early termination \emph{on-the-fly} in batch-wise sampling-based motion planning. Experiments show that BTIT* achieves strongly faster time-to-first-solution and improved convergence than representative \emph{non-lazy} informed batch planners on two kinodynamic benchmarks: a 4D double-integrator model and a 10D linearized Quadrotor. The source code is available here.
@article{arxiv.2604.11587,
title = {Optimal Kinodynamic Motion Planning Through Anytime Bidirectional Heuristic Search with Tight Termination Condition},
author = {Yi Wang and Bingxian Mu and Shahab Shokouhi and May-Win Thein},
journal= {arXiv preprint arXiv:2604.11587},
year = {2026}
}