State lattice-based planning
The kinodynamics constraints of the robot are encoded in the state lattice graph and any path in this graph is feasible. After constructing the graph, any graph search algorithm can be used for planning.
A robot's configuration space is usually discretized to reduce computational complexity of planning at the expense of completeness. However, it is difficult to search this space while satisfying the robot's differential constraints. State lattices are a special way of discretization of robot state space that ensures (by construction) that any path in the graph complies with the robot's constraints, thereby eliminating the need to consider them explicitly during planning.