Funnel libraries for real-time robust feedback motion planning

We consider the problem of generating motion plans for a robot that are guaranteed to succeed despite uncertainty in the environment, parametric model uncertainty, and disturbances. Furthermore, we consider scenarios where these plans must be generated in real time, because constraints such as obsta...

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Bibliographic Details
Main Authors: Majumdar, Anirudha, Tedrake, Russell L
Other Authors: Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Format: Article
Language:English
Published: SAGE Publications 2021
Online Access:https://hdl.handle.net/1721.1/130014