Feedback-motion-planning with simulation-based LQR-trees
نویسندگان
چکیده
منابع مشابه
Feedback-motion-planning with simulation-based LQR-trees
The paper presents the simulation-based variant of the LQR-Tree feedback-motion-planning approach. The algorithm generates a control policy that stabilizes a nonlinear dynamic system from a bounded set of initial conditions to a goal. This policy is represented by a tree of feedback-stabilized trajectories. The algorithm explores the bounded set with random state samples and, where needed, adds...
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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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ژورنال
عنوان ژورنال: The International Journal of Robotics Research
سال: 2016
ISSN: 0278-3649,1741-3176
DOI: 10.1177/0278364916647192