Information-rich Path Planning with General Constraints using Rapidly-exploring Random Trees

Information-rich Path Planning with General Constraints using Rapidly-exploring Random Trees

This paper introduces the Information-rich Rapidly-exploring Random Tree (IRRT), an extension of the RRT algorithm that embeds information collection as predicted using Fisher Information Matrices. The primary contribution of this algorithm is target-based information maximization in general (pos...

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Bibliographic Details
Main Authors: Levine, Daniel S., Luders, Brandon Douglas, How, Jonathan P.
Other Authors: Massachusetts Institute of Technology. Aerospace Controls Laboratory
Format: Article
Language:en_US
Published: American Institute of Aeronautics and Astronautics 2010
Online Access:http://hdl.handle.net/1721.1/60027
https://orcid.org/0000-0001-8576-1930

Internet

http://hdl.handle.net/1721.1/60027
https://orcid.org/0000-0001-8576-1930

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