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dc.contributor.authorGlassman, Elena L.
dc.contributor.authorTedrake, Russell Louis
dc.date.accessioned2012-10-02T13:06:04Z
dc.date.available2012-10-02T13:06:04Z
dc.date.issued2010-07
dc.date.submitted2010-05
dc.identifier.isbn978-1-4244-5040-4
dc.identifier.isbn978-1-4244-5038-1
dc.identifier.issn1050-4729
dc.identifier.urihttp://hdl.handle.net/1721.1/73534
dc.description.abstractKinodynamic planning algorithms like Rapidly-Exploring Randomized Trees (RRTs) hold the promise of finding feasible trajectories for rich dynamical systems with complex, nonconvex constraints. In practice, these algorithms perform very well on configuration space planning, but struggle to grow efficiently in systems with dynamics or differential constraints. This is due in part to the fact that the conventional distance metric, Euclidean distance, does not take into account system dynamics and constraints when identifying which node in the existing tree is capable of producing children closest to a given point in state space. We show that an affine quadratic regulator (AQR) design can be used to approximate the exact minimum-time distance pseudometric at a reasonable computational cost. We demonstrate improved exploration of the state spaces of the double integrator and simple pendulum when using this pseudometric within the RRT framework, but this improvement drops off as systems' nonlinearity and complexity increase. Future work includes exploring methods for approximating the exact minimum-time distance pseudometric that can reason about dynamics with higher-order terms.en_US
dc.language.isoen_US
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)en_US
dc.relation.isversionofhttp://dx.doi.org/10.1109/ROBOT.2010.5509718en_US
dc.rightsArticle is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.en_US
dc.sourceIEEEen_US
dc.titleA Quadratic Regulator-Based Heuristic for Rapidly Exploring State Spaceen_US
dc.typeArticleen_US
dc.identifier.citationGlassman, Elena, and Russ Tedrake. “A Quadratic Regulator-based Heuristic for Rapidly Exploring State Space.” IEEE International Conference on Robotics and Automation (ICRA), 2010. 5021–5028. © Copyright 2010 IEEEen_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Electrical Engineering and Computer Scienceen_US
dc.contributor.mitauthorGlassman, Elena L.
dc.contributor.mitauthorTedrake, Russell Louis
dc.relation.journalProceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2010en_US
dc.eprint.versionFinal published versionen_US
dc.type.urihttp://purl.org/eprint/type/ConferencePaperen_US
dspace.orderedauthorsGlassman, Elena; Tedrake, Russen
dc.identifier.orcidhttps://orcid.org/0000-0001-5178-3496
dc.identifier.orcidhttps://orcid.org/0000-0002-8712-7092
mit.licensePUBLISHER_POLICYen_US


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