IcLQG: Combining local and global optimization for control in information space
When a mobile robot does not have perfect knowledge of its position, conventional controllers can experience failures such as collisions because the uncertainty of the position is not considered in choosing control actions. In this paper, we show how global planning and local feedback control can be...
| Main Authors: | , |
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| Other Authors: | |
| Format: | Article |
| Language: | en_US |
| Published: |
Institute of Electrical and Electronics Engineers
2010
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| Online Access: | http://hdl.handle.net/1721.1/59401 https://orcid.org/0000-0002-8293-0492 |