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...
Main Authors: | Luders, Brandon Douglas (Contributor), Karaman, Sertac (Contributor), Frazzoli, Emilio (Contributor), How, Jonathan P. (Contributor) |
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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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Subjects: | |
Online Access: | Get fulltext |
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