Bounds on tracking error using closed-loop rapidly-exploring random trees

Bounds on tracking error using closed-loop rapidly-exploring random trees

This paper considers the real-time motion planning problem for autonomous systems subject to complex dynamics, constraints, and uncertainty. Rapidly-exploring random trees (RRT) can be used to efficiently construct trees of dynamically feasible trajectories; however, to ensure feasibility, it is cri...

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Bibliographic Details
Main Authors: Luders, Brandon Douglas (Contributor), Karaman, Sertac (Contributor), Frazzoli, Emilio (Contributor), How, Jonathan P. (Contributor)
Other Authors: Massachusetts Institute of Technology. Department of Aeronautics and Astronautics (Contributor), Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science (Contributor)
Format: Article
Language:English
Published: Institute of Electrical and Electronics Engineers, 2010-10-06T14:42:45Z.
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