An Exact Optimal Kinodynamic Planner Based on Homotopy Class Constraints.

Basak Sakcak Luca Bascetta Gianni Ferretti

Published in: MESAS (2017)

Keyphrases

class dependent
optimality criteria
optimal solution
dynamic programming
worst case
potential functions
search algorithm
linear programming
closed form
constraint programming
optimal control
mixed integer
initial state
initially unknown