Robust Sampling-based Motion Planning with Asymptotic Optimality Guarantees
This paper presents a novel sampling-based planner, CC-RRT*, which generates robust, asymptotically optimal trajectories in real-time for linear Gaussian systems subject to process noise, localization error, and uncertain environmental constraints. CC-RRT* provides guaranteed probabilistic feasibili...
| Main Authors: | , , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
| Published: |
American Institute of Aeronautics and Astronautics,
2013-10-21T15:27:20Z.
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| Subjects: | |
| Online Access: | Get fulltext |