LQR-Trees: Feedback motion planning on sparse randomized trees

Recent advances in the direct computation of Lyapunov functions using convex optimization make it possible to efficiently evaluate regions of stability for smooth nonlinear systems. Here we present a feedback motion planning algorithm which uses these results to efficiently combine locally valid...

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Bibliographic Details
Main Author: Tedrake, Russell Louis
Other Authors: Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Format: Article
Language:en_US
Published: MIT Press 2011
Online Access:http://hdl.handle.net/1721.1/64643
https://orcid.org/0000-0002-8712-7092
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