Robust Sampling-based Motion Planning with Asymptotic Optimality Guarantees
This paper presents a novel sampling-based planner, CC-RRT*, which generates robust, asymptotically optimal trajectories in real-time for linear Gaussian systems subject to process noise, localization error, and uncertain environmental constraints. CC-RRT* provides guaranteed probabilistic feasibili...
| Main Authors: | , , |
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| Other Authors: | |
| Format: | Article |
| Language: | en_US |
| Published: |
American Institute of Aeronautics and Astronautics
2013
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| Online Access: | http://hdl.handle.net/1721.1/81452 https://orcid.org/0000-0001-8576-1930 https://orcid.org/0000-0002-2225-7275 |