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Cybernetics / Mathematical optimization / Operations research / Dynamical systems / Stability theory / Linear-quadratic regulator / Trajectory optimization / Lyapunov stability / State space / Control theory / Systems theory / Optimal control


LQR-Trees: Feedback Motion Planning on Sparse Randomized Trees Russ Tedrake Computer Science and Artificial Intelligence Lab Massachusetts Institute of Technology Cambridge, MA 02139
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Document Date: 2010-01-12 23:42:03

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Neural Information Processing Systems / Cambridge University Press / BT / Artificial Intelligence Laboratory / LTV / American Elsevier Publishing Company Inc. / Texas Instruments / /

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SOSTOOLS library / Artificial Intelligence Lab Massachusetts Institute of Technology Cambridge / Prentice Hall / Massachusetts Institute of Technology Computer Science / University of Massachusetts / California Institute of Technology / /

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periodic steady-state solution / polynomial systems / motion planning algorithms / higher dimensional systems / positive-definite solution / sequential linear quadratic algorithm / potential solution / natural control solution / nonlinear biological movement systems / line search / smooth nonlinear systems / feedback motion planning algorithms / much higher dimensional systems / large web / mechanical systems / particular solution / periodic control systems / dynamical systems / discretization algorithms / randomized planning algorithms / complicated dynamical systems / systematic nonlinear feedback control design algorithm / http /

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California Institute of Technology / Cambridge University / University of Massachusetts / Institute of Technology Cambridge / Massachusetts Institute of Technology / Society for Industrial and Applied Mathematics / Institute of Technology Computer Science / Department of Computer Science / /

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Katie Byl / Khashayar Rohanimanesh / Lyapunov / Stephen Prajna / Oskar von Stryk / John T. Betts / Jean-Jacques E. Slotine / Elena Glassman / David H. Jacobson / Peter Seiler / Christopher G. Atkeson / Weiping Li / Nicholas Roy / Emanuel Todorov / Uwe Mettin / Alexandre Megretski / Pablo A. Parrilo / Athanasios Sideris / Michael Branicky / Frank L. Lewis / Steven M. LaValle / Michael Curtiss / James E. Bobrow / Antonis Papachristodoulou / Sridhar Mahadevan / Fumiya Iida / Ian R. Manchester / Mauro Maggioni / Weiwei Li / David Q. Mayne / Russ Tedrake / Benjamin Stephens / /

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trajectory stabilizing controller / local controller / ACKNOWLEDGMENT The author / RT / LQR stabilizing controller / stabilizing controller / feedback controller / controller / candidate / /

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MATLAB / J / /

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Massachusetts / /

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