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— The Rapidly-exploring Random Tree (RRT) algorithm , based on incremental sampling, efficiently computes motion plans. Although the RRT algorithm quickly produces candidate feasible solutions, it tends to converge to a solution that is far from optimal. Practical applications favor " anytime " algorithms that quickly identify an initial feasible plan,(More)
— The RRT * algorithm has recently been proposed as an optimal extension to the standard RRT algorithm [1]. However, like RRT, RRT * is difficult to apply in problems with complicated or underactuated dynamics because it requires the design of a two domain-specific extension heuristics: a distance metric and node extension method. We propose automatically(More)
Unagreement patterns consist in a person feature mismatch between subject and verb that is nonetheless grammatical in Spanish. The processing of this type of construction gives new insights into the understanding of agreement processes during language comprehension. Here, we contrasted oscillatory brain activity triggered by Unagreement in different EEG(More)
The MIT Faculty has made this article openly available. Please share how this access benefits you. Your story matters. Abstract— A desirable property of path planning for robotic manipulation is the ability to identify solutions in a sufficiently short amount of time to be usable. This is particularly challenging for the manipulation problem due to the need(More)
—We propose a new method for applying RRT * to kinodynamic motion planning problems by using finite-horizon linear quadratic regulation (LQR) to measure cost and to extend the tree. First, we introduce the method in the context of arbitrary affine dynamical systems with quadratic costs. For these systems, the algorithm is shown to converge to optimal(More)
During language comprehension, semantic contextual information is used to generate expectations about upcoming items. This has been commonly studied through the N400 event-related potential (ERP), as a measure of facilitated lexical retrieval. However, the associative relationships in multi-word expressions (MWE) may enable the generation of a categorical(More)
Citation Karaman, Sertac et al. "Anytime Motion Planning using the RRT*. The MIT Faculty has made this article openly available. Please share how this access benefits you. Your story matters. Abstract— The Rapidly-exploring Random Tree (RRT) algorithm , based on incremental sampling, efficiently computes motion plans. Although the RRT algorithm quickly(More)
The aim of this study was to identify differential global and local brain structural patterns in Dravet Syndrome (DS) patients as compared with a control subject group, using brain morphometry techniques which provide a quantitative whole-brain structural analysis that allows for specific patterns to be generalized across series of individuals. Nine(More)