R3T: Rapidly-exploring Random Reachable Set Tree for Optimal Kinodynamic Planning of Nonlinear Hybrid Systems
Albert Wu,Sadra Sadraddini,Russ Tedrake,Albert Wu,Sadra Sadraddini,Russ Tedrake
We introduce R3T, a reachability-based variant of the rapidly-exploring random tree (RRT) algorithm that is suitable for (optimal) kinodynamic planning in nonlinear and hybrid systems. We developed tools to approximate reachable sets using polytopes and perform sampling-based planning with them. This method has a unique advantage in hybrid systems: different dynamic modes in the reachable set can ...
