Feedback Motion Planning
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چکیده
منابع مشابه
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 linear quadratic regulator (LQR) controllers into a nonlinear feedback policy which probabilisticall...
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تاریخ انتشار 2006