LQR-Trees: Feedback motion planning on sparse randomized trees
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...
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| Format: | Article |
| Language: | en_US |
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MIT Press
2011
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| Online Access: | http://hdl.handle.net/1721.1/64643 https://orcid.org/0000-0002-8712-7092 |