The DOI matches its Crossref record; 1 of the 1 references it cites were found in a registry or an index.
LQR-trees: Feedback Motion Planning via Sums-of-Squares Verification
Abstract
Advances in the direct computation of Lyapunov functions using convex optimization make it possible to efficiently evaluate regions of attraction for smooth non-linear systems. Here we present a feedback motion-planning algorithm which uses rigorously computed stability regions to build a sparse tree of LQR-stabilized trajectories. The region of attraction of this non-linear feedback policy “probabilistically covers” the entire controllable subset of state space, verifying that all initial conditions that are capable of reaching the goal will reach the goal. We numerically investigate the properties of this systematic non-linear feedback design algorithm on simple non-linear systems, prove the property of probabilistic coverage, and discuss extensions and implementation details of the basic algorithm.
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Cites
Probabilistic roadmaps for path planning in high-dimensional configuration spaces
Kavraki, L. E., Svestka, P., Latombe, J.-C., & Overmars, M. H. (1996) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.508439 · Cited by 6,343
Cited by
Reinforcement learning in robotics: A survey
Kober, J., Bagnell, J. A., & Peters, J. (2013) · The International Journal of Robotics Research · doi:10.1177/0278364913495721 · Cited by 3,160
Models, feedback control, and open problems of 3D bipedal robotic walking
Grizzle, J. W., Chevallereau, C., Sinnet, R. W., & Ames, A. D. (2014) · Automatica · doi:10.1016/j.automatica.2014.04.021 · Cited by 321
Data-Driven Control of Soft Robots Using Koopman Operator Theory
Bruder, D., Fu, X., Gillespie, R. B., Remy, C. D., & Vasudevan, R. (2021) · IEEE Transactions on Robotics · doi:10.1109/tro.2020.3038693 · Cited by 309
An application of sequential composition control to cooperative systems
Najafi, E., Babuska, R., & Lopes, G. A. D. (2015) · 2015 10th International Workshop on Robot Motion and Control (RoMoCo) · doi:10.1109/romoco.2015.7219707 · Cited by 15
Metadata
- Authors
- Tedrake, R., Manchester, I. R., Tobenkin, M., & Roberts, J. W.
- Venue
- The International Journal of Robotics Research
- Publisher
- SAGE Publications
- Published
- 2010-04-22
- Volume
- 29
- Issue
- 8
- Pages
- 1038-1052
- ISSN
- 0278-3649 (ISSN-L)
- 1741-3176
- OpenAlex
- W2100538121
- Cited by
- 409
- References
- 1
- FWCI
- 19.53
- Type
- journal article
- Language
- en
- Open access
- closed
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- Tedrake, R., Manchester, I. R., Tobenkin, M., & Roberts, J. W. (2010). LQR-trees: Feedback Motion Planning via Sums-of-Squares Verification. The International Journal of Robotics Research. https://doi.org/10.1177/0278364910369189
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