Corpus ID: 17750667

Planning for Optimal Feedback Control in the Volume of Free Space

@article{Yershov2015PlanningFO,
  title={Planning for Optimal Feedback Control in the Volume of Free Space},
  author={Dmitry S. Yershov and M. Otte and Emilio Frazzoli},
  journal={ArXiv},
  year={2015},
  volume={abs/1504.07940}
}
  • Dmitry S. Yershov, M. Otte, Emilio Frazzoli
  • Published 2015
  • Computer Science, Mathematics
  • ArXiv
  • The problem of optimal feedback planning among obstacles in d-dimensional configuration spaces is considered. We present a sampling-based, asymptotically optimal feedback planning method. Our method combines an incremental construction of the Delaunay triangulation, volumetric collision-detection module, and a modified Fast Marching Method to compute a converging sequence of feedback functions. The convergence and asymptotic runtime are proven theoretically and investigated during numerical… CONTINUE READING
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