RRTs for nonlinear, discrete, and hybrid planning and control.
Michael S. BranickyMichael M. CurtissJoshua A. LevineStuart B. MorganPublished in: CDC (2003)
Keyphrases
- heuristic search
- control rules
- highly nonlinear
- real time
- tracking control
- decision support
- control system
- data acquisition
- optimal control
- nonlinear dynamics
- model predictive control
- lyapunov function
- control problems
- continuous domains
- action selection
- finite number
- control strategy
- mobile robot
- dynamic programming