Recommended citation: J. Liu, M. Fu, W. Zhang, B. Chen, R. Prakapovich and U. Sychou, "CDT-Dijkstra: Fast Planning of Globally Optimal Paths for All Points in 2D Continuous Space," 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Detroit, MI, USA, 2023, pp. 2224-2231, doi: 10.1109/IROS55552.2023.10341744.