The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
We propose a number of “divergence metrics” to quantify the robustness of a trajectory to state uncertainty for under-actuated or under-sensed systems. These metrics are inspired by contraction analysis and we demonstrate their use to guide randomized planners toward more convergent trajectories through three extensions to the kinodynamic RRT. The first strictly thresholds action selection based on...
We present an improved algorithm to RRT∗ in this paper. Our algorithm tries to increase the efficiency by replacing the Initialtree() of RRT∗ with a RRT tree only contains one solution to speed up finding a feasible solution, and then applying a RRT∗_S algorithm to optimize the current solution. This RRT∗_S is similar with RRT∗ in principle, but it does not insert extra nodes into the current tree...
This paper addresses distributed parameters coordination methods for wireless communication systems founded on message-passing algorithms on graphs. This work provides evaluations on the potential of such an approach in a wireless communication network, and compares its performance and convergence properties with those of a baseline selfish/greedy approach. Simulation results for an example application,...
The RRT* algorithm has recently been proposed as an optimal extension to the standard RRT algorithm [1]. However, like RRT, RRT* is difficult to apply in problems with complicated or underactuated dynamics because it requires the design of a two domain-specific extension heuristics: a distance metric and node extension method. We propose automatically deriving these two heuristics for RRT* by locally...
It has been shown that the Rapidly Exploring Random Tree algorithm is complete - both probabilistically and in the sense of resolution; however little analysis exists on the rate of convergence. We present a model of state space coverage as a function of the number of nodes in the tree, for holonomic systems in expansive configuration spaces. Based on two simplifying assumptions, we develop a stochastic...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.