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 traje...
| Main Authors: | , , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
| Published: |
SAGE Publications
2020
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| Online Access: | https://hdl.handle.net/1721.1/124352 |