LQR-Trees with Sampling Based Exploration of the State Space
Jiří Fejlek,Stefan Ratschan,Jiří Fejlek,Stefan Ratschan
This paper introduces an extension of the LQR-tree algorithm, which is a feedback-motion-planning algorithm for stabilizing a system of ordinary differential equations from a bounded set of initial conditions to a goal. The constructed policies are represented by a tree of exemplary system trajec-tories, so called demonstrations, and linear-quadratic regulator (LQR) feedback controllers. Consequen...
