A tuned approach to feedback motion planning with RRTs under model uncertainty

Abstract

Model uncertainty complicates most kinodynamic motion planning and control approaches due to their reliance on accurate forward prediction. If the model uncertainty is significant, a generated path or control strategy based on forward simulation of this model is potentially invalid and expensive to track (if possible). This paper explores the use of system… (More)
DOI: 10.1109/ICRA.2011.5979834

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