Sampling-based Algorithms for Optimal Motion Planning Using Closed-loop Prediction

23 Jan 2016Oktay ArslanKarl BerntorpPanagiotis Tsiotras

Motion planning under differential constraints, kinodynamic motion planning, is one of the canonical problems in robotics. Currently, state-of-the-art methods evolve around kinodynamic variants of popular sampling-based algorithms, such as Rapidly-exploring Random Trees (RRTs)... (read more)

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