Robust Sample-Based Output-Feedback Path Planning
Mahroo Bahreinian,Marc Mitjans,Roberto Tron,Mahroo Bahreinian,Marc Mitjans,Roberto Tron
We propose a novel approach for sampling-based and control-based motion planning. We combine a representation of the environment obtained via a modified version of optimal Rapidly-exploring Random Trees (RRT*), with landmark-based output-feedback controllers obtained via Control Lyapunov Functions, Control Barrier Functions, and robust Linear Programming. Our solution inherits many benefits of RRT...
