A Survey of Asymptotically Optimal Sampling-based Motion Planning MethodsMotion planning is a fundamental problem in autonomous robotics. It requires finding a path to a specified goal that avoids obstacles and obeys a robot's limitations ... JD Gammell,MP Strub 被引量: 0发表: 2020年 Fast March...
Recent results have proven that some sampling-based planning methods probabilistically converge towards the optimal solution as computational effort approaches infinity. This survey summarizes the assumptions behind these popular asymptotically optimal techniques and provides an introduction to the significant ...
In this paper, we introduce initial work on an any- time optimal sampling-based planning algorithm, Batch Informed Trees (BIT*). BIT* unifies the developments of Optimal RRT (RRT*) and Fast Marching Trees (FMT*) while extending them with a heuristic. An overview of the algorithm and some...
展开 关键词: MIMO systems Monte Carlo methods computational complexity demodulation error statistics sampling methods stochastic processes BLASTdetection method Bell labs layered space time detection MIMO channels 会议名称: IEEE Conference on Decision & Control 会议时间: 2003 主办...
The main contribution of this dissertation is a novel class of algorithms that extend the application domain of sampling-based methods to two new directions: optimal path planning and path planning with complex task specifications. Regarding the optimal path planning problem, we first show that the ...
We formulate the Lebesgue-sampling-based optimal control problem. We show that the problem can be solved by the time aggregation approach in Markov decision processes (MDP) theory. Policy-iteration-based and reinforcement-learning-based methods are developed for the optimal policies. Both analytical ...
Sampling methodsFrequencyTime varying systemsTransfer functionsAutomatic controlState-space methodsHydrogenStabilityData systemsThe H/sub 2/-optimal control of ... Chen, T,Francis, B.A - 《IEEE Transactions on Automatic Control》 被引量: 186发表: 1991年 Sub-optimal study design has major impacts on...
16.410/413PrinciplesofAutonomyandDecisionMakingLecture15:Sampling-BasedAlgorithmsforMotionPlanningEmilioFrazzoliAeronauticsandAstronauticsM..
Approximation schemes based on Optimal Transportation theory (e.g., [2]), when combined with with meshfree interpolation (cf., e.g., [1]) and material point sampling [3] supply a power- ful alternative to the strictly Lagrangian or Eulerian paradigms that combines some of the best attribute...
Identifying best interventions through online importance sampling. In Int. Conf. Machine Learning 3057–3066 (PMLR, 2017). Koumoutsakos, P. & Leonard, A. High-resolution simulations of the flow around an impulsively started cylinder using vortex methods. J. Fluid Mech. 296, 1–38 (1995). ...