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Optimal Sampling-Based Motion Planning under Differential Constraints: the Drift Case with Linear Affine Dynamics
In this paper we provide a thorough, rigorous theoretical framework to assess optimality guarantees of sampling-based algorithms for drift control systems: systems that, loosely speaking, can not stop instantaneously due to momentum. We exploit this framework to design and analyze a sampling-based a...
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| Publicado no: | Proc IEEE Conf Decis Control |
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| Main Authors: | , , |
| Formato: | Artigo |
| Idioma: | Inglês |
| Publicado em: |
2015
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| Assuntos: | |
| Acesso em linha: | https://ncbi.nlm.nih.gov/pmc/articles/PMC4795843/ https://ncbi.nlm.nih.gov/pubmed/26997749 https://ncbi.nlm.nih.govhttp://dx.doi.org/10.1109/CDC.2015.7402604 |
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