Continuous planning with winding constraints using optimal heuristic-driven front propagation.
Dmitry S. YershovPaul VernazaSteven M. LaVallePublished in: ICRA (2013)
Keyphrases
- optimal solution
- optimal planning
- constraint satisfaction
- optimal plans
- dynamic programming
- simulated annealing
- goal state
- forward search
- planning problems
- state space search
- optimal cost
- greedy heuristic
- constraint violations
- mixed integer program
- heuristic search algorithms
- lower and upper bounds
- continuous variables
- piecewise linear
- exhaustive search
- constrained optimization
- optimal control
- linear program
- heuristic search