Matches in SemOpenAlex for { <https://semopenalex.org/work/W2262148971> ?p ?o ?g. }
Showing items 1 to 90 of
90
with 100 items per page.
- W2262148971 abstract "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). However, there are still challenges remaining, for example, how to include complex dynamics while guaranteeing optimality. If the open-loop dynamics are unstable, exploration by random sampling in control space becomes inefficient. We describe a new sampling-based algorithm, called CL-RRT#, which leverages ideas from the RRT# algorithm and a variant of the RRT algorithm that generates trajectories using closed-loop prediction. The idea of planning with closed-loop prediction allows us to handle complex unstable dynamics and avoids the need to find computationally hard steering procedures. The search technique presented in the RRT# algorithm allows us to improve the solution quality by searching over alternative reference trajectories. Numerical simulations using a nonholonomic system demonstrate the benefits of the proposed approach." @default.
- W2262148971 created "2016-06-24" @default.
- W2262148971 creator A5005508766 @default.
- W2262148971 creator A5077667229 @default.
- W2262148971 creator A5090118616 @default.
- W2262148971 date "2016-01-23" @default.
- W2262148971 modified "2023-10-01" @default.
- W2262148971 title "Sampling-based Algorithms for Optimal Motion Planning Using Closed-loop Prediction" @default.
- W2262148971 cites W1583541992 @default.
- W2262148971 cites W1971086298 @default.
- W2262148971 cites W1982809790 @default.
- W2262148971 cites W2000359213 @default.
- W2262148971 cites W2057987580 @default.
- W2262148971 cites W2071401582 @default.
- W2262148971 cites W2112271657 @default.
- W2262148971 cites W2114171536 @default.
- W2262148971 cites W2124651605 @default.
- W2262148971 cites W2154256781 @default.
- W2262148971 cites W2326206646 @default.
- W2262148971 cites W2611243847 @default.
- W2262148971 hasPublicationYear "2016" @default.
- W2262148971 type Work @default.
- W2262148971 sameAs 2262148971 @default.
- W2262148971 citedByCount "1" @default.
- W2262148971 countsByYear W22621489712017 @default.
- W2262148971 crossrefType "posted-content" @default.
- W2262148971 hasAuthorship W2262148971A5005508766 @default.
- W2262148971 hasAuthorship W2262148971A5077667229 @default.
- W2262148971 hasAuthorship W2262148971A5090118616 @default.
- W2262148971 hasConcept C104114177 @default.
- W2262148971 hasConcept C105795698 @default.
- W2262148971 hasConcept C106131492 @default.
- W2262148971 hasConcept C11413529 @default.
- W2262148971 hasConcept C126255220 @default.
- W2262148971 hasConcept C138632511 @default.
- W2262148971 hasConcept C140779682 @default.
- W2262148971 hasConcept C154945302 @default.
- W2262148971 hasConcept C19966478 @default.
- W2262148971 hasConcept C2776839635 @default.
- W2262148971 hasConcept C31972630 @default.
- W2262148971 hasConcept C33923547 @default.
- W2262148971 hasConcept C34413123 @default.
- W2262148971 hasConcept C41008148 @default.
- W2262148971 hasConcept C72434380 @default.
- W2262148971 hasConcept C81074085 @default.
- W2262148971 hasConcept C90509273 @default.
- W2262148971 hasConceptScore W2262148971C104114177 @default.
- W2262148971 hasConceptScore W2262148971C105795698 @default.
- W2262148971 hasConceptScore W2262148971C106131492 @default.
- W2262148971 hasConceptScore W2262148971C11413529 @default.
- W2262148971 hasConceptScore W2262148971C126255220 @default.
- W2262148971 hasConceptScore W2262148971C138632511 @default.
- W2262148971 hasConceptScore W2262148971C140779682 @default.
- W2262148971 hasConceptScore W2262148971C154945302 @default.
- W2262148971 hasConceptScore W2262148971C19966478 @default.
- W2262148971 hasConceptScore W2262148971C2776839635 @default.
- W2262148971 hasConceptScore W2262148971C31972630 @default.
- W2262148971 hasConceptScore W2262148971C33923547 @default.
- W2262148971 hasConceptScore W2262148971C34413123 @default.
- W2262148971 hasConceptScore W2262148971C41008148 @default.
- W2262148971 hasConceptScore W2262148971C72434380 @default.
- W2262148971 hasConceptScore W2262148971C81074085 @default.
- W2262148971 hasConceptScore W2262148971C90509273 @default.
- W2262148971 hasLocation W22621489711 @default.
- W2262148971 hasOpenAccess W2262148971 @default.
- W2262148971 hasPrimaryLocation W22621489711 @default.
- W2262148971 hasRelatedWork W1517495386 @default.
- W2262148971 hasRelatedWork W1969907553 @default.
- W2262148971 hasRelatedWork W2024535088 @default.
- W2262148971 hasRelatedWork W2043292926 @default.
- W2262148971 hasRelatedWork W2046549071 @default.
- W2262148971 hasRelatedWork W2049561732 @default.
- W2262148971 hasRelatedWork W2556237820 @default.
- W2262148971 hasRelatedWork W2752574553 @default.
- W2262148971 hasRelatedWork W2782115266 @default.
- W2262148971 hasRelatedWork W2794029453 @default.
- W2262148971 hasRelatedWork W2890523827 @default.
- W2262148971 hasRelatedWork W2927564896 @default.
- W2262148971 hasRelatedWork W2963641660 @default.
- W2262148971 hasRelatedWork W2982514839 @default.
- W2262148971 hasRelatedWork W2995998722 @default.
- W2262148971 hasRelatedWork W3004699778 @default.
- W2262148971 hasRelatedWork W3046365221 @default.
- W2262148971 hasRelatedWork W3124325944 @default.
- W2262148971 hasRelatedWork W3196515765 @default.
- W2262148971 hasRelatedWork W3206323334 @default.
- W2262148971 isParatext "false" @default.
- W2262148971 isRetracted "false" @default.
- W2262148971 magId "2262148971" @default.
- W2262148971 workType "article" @default.