Funnel libraries for real-time robust feedback motion planning
暂无分享,去创建一个
[1] L. Dubins. On Curves of Minimal Length with a Constraint on Average Curvature, and with Prescribed Initial and Terminal Positions and Tangents , 1957 .
[2] A. Charnes,et al. Chance-Constrained Programming , 1959 .
[3] D. Luenberger. An introduction to observers , 1971 .
[4] Rodney A. Brooks,et al. Symbolic Error Analysis and Robot Planning , 1982 .
[5] Russell H. Taylor,et al. Automatic Synthesis of Fine-Motion Strategies for Robots , 1984 .
[6] Matthew T. Mason,et al. The mechanics of manipulation , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.
[7] Anil V. Rao,et al. Practical Methods for Optimal Control Using Nonlinear Programming , 1987 .
[8] Lennart Ljung,et al. System identification toolbox for use with MATLAB , 1988 .
[9] John F. Canny,et al. Robust motion planning for mobile robots , 1990, Proceedings., IEEE International Conference on Robotics and Automation.
[10] George E. Collins,et al. Partial Cylindrical Algebraic Decomposition for Quantifier Elimination , 1991, J. Symb. Comput..
[11] Jean-Claude Latombe,et al. Robot Motion Planning with Uncertainty in Control and Sensing , 1991, Artif. Intell..
[12] Frank L. Lewis,et al. Aircraft Control and Simulation , 1992 .
[13] Mark W. Spong,et al. The swing up control problem for the Acrobot , 1995 .
[14] Olga Taussky-Todd. SOME CONCRETE ASPECTS OF HILBERT'S 17TH PROBLEM , 1996 .
[15] Stephen P. Boyd,et al. Semidefinite Programming , 1996, SIAM Rev..
[16] Leslie Pack Kaelbling,et al. Planning and Acting in Partially Observable Stochastic Domains , 1998, Artif. Intell..
[17] Daniel E. Koditschek,et al. Sequential Composition of Dynamically Dexterous Robot Behaviors , 1999, Int. J. Robotics Res..
[18] Y. Namita,et al. Real‐time hybrid experimental system with actuator delay compensation and its application to a piping system with energy absorber , 1999 .
[19] Steven M. LaValle,et al. RRT-connect: An efficient approach to single-query path planning , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).
[20] D. Stoyan,et al. Recent applications of point process methods in forestry statistics , 2000 .
[21] P. Parrilo. Structured semidefinite programs and semialgebraic geometry methods in robustness and optimization , 2000 .
[22] P. Varaiya,et al. Ellipsoidal techniques for reachability analysis: internal approximation , 2000 .
[23] Arkadi Nemirovski,et al. Lectures on modern convex optimization - analysis, algorithms, and engineering applications , 2001, MPS-SIAM series on optimization.
[24] E. Feron,et al. Real-time motion planning for agile autonomous vehicles , 2000, Proceedings of the 2001 American Control Conference. (Cat. No.01CH37148).
[25] Jonathan P. How,et al. Robust motion planning using a maneuver automation with built-in uncertainties , 2003, Proceedings of the 2003 American Control Conference, 2003..
[26] Christopher W. Brown. QEPCAD B: a program for computing with semi-algebraic sets using CADs , 2003, SIGS.
[27] Donald Goldfarb,et al. Second-order cone programming , 2003, Math. Program..
[28] S. Prajna. Barrier certificates for nonlinear model validation , 2003, 42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475).
[29] Ryan Feeley,et al. Some controls applications of sum of squares programming , 2003, 42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475).
[30] Alfred A. Rizzi,et al. Sequential composition for control of underactuated systems , 2003 .
[31] George J. Pappas,et al. Geometric programming relaxations for linear system reachability , 2004, Proceedings of the 2004 American Control Conference.
[32] Ali Jadbabaie,et al. Safety Verification of Hybrid Systems Using Barrier Certificates , 2004, HSCC.
[33] P. Parrilo. Exploiting Algebraic Structure in Sum of Squares Programs , 2005 .
[34] Alexandre M. Bayen,et al. A time-dependent Hamilton-Jacobi formulation of reachable sets for continuous dynamic games , 2005, IEEE Transactions on Automatic Control.
[35] Ojas D. Parekh,et al. On Factor Width and Symmetric H-matrices , 2005 .
[36] Munther A. Dahleh,et al. Maneuver-based motion planning for nonlinear systems with symmetries , 2005, IEEE Transactions on Robotics.
[37] Antoine Girard,et al. Reachability of Uncertain Linear Systems Using Zonotopes , 2005, HSCC.
[38] David Q. Mayne,et al. Robust model predictive control of constrained linear systems with bounded disturbances , 2005, Autom..
[39] Christopher G. Atkeson,et al. Policies based on trajectory libraries , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..
[40] Nicholas Roy,et al. Adapting probabilistic roadmaps to handle uncertain maps , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..
[41] Stephen P. Boyd,et al. Convex Optimization , 2004, Algorithms and Theory of Computation Handbook.
[42] Hui X. Li,et al. A probabilistic approach to optimal robust path planning with obstacles , 2006, 2006 American Control Conference.
[43] Nicholas Roy,et al. The Belief Roadmap: Efficient Planning in Linear POMDPs by Factoring the Covariance , 2007, ISRR.
[44] Dmitry Berenson,et al. Grasp planning in complex scenes , 2007, 2007 7th IEEE-RAS International Conference on Humanoid Robots.
[45] Alonzo Kelly,et al. Toward Optimal Sampling in the Space of Paths , 2007, ISRR.
[46] Bogdan Dumitrescu,et al. Interior-Point Algorithms for Sum-Of-Squares Optimization of Multidimensional Trigonometric Polynomials , 2007, 2007 IEEE International Conference on Acoustics, Speech and Signal Processing - ICASSP '07.
[47] Brian C. Williams,et al. Generative Planning for Hybrid Systems Based on Flow Tubes , 2008, ICAPS.
[48] Leonidas J. Guibas,et al. Bounded Uncertainty Roadmaps for Path Planning , 2008, WAFR.
[49] Jonathan P. How,et al. Motion planning for urban driving using RRT , 2008, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems.
[50] Urs A. Muller,et al. Learning maneuver dictionaries for ground robot planning , 2008 .
[51] Ufuk Topcu,et al. Local stability analysis using simulations and sum-of-squares programming , 2008, Autom..
[52] Manfred Morari,et al. A tractable approximation of chance constrained stochastic MPC based on affine disturbance feedback , 2008, 2008 47th IEEE Conference on Decision and Control.
[53] Matthias Althoff,et al. Reachability analysis of nonlinear systems with uncertain parameters using conservative linearization , 2008, 2008 47th IEEE Conference on Decision and Control.
[54] Johan Löfberg,et al. Pre- and Post-Processing Sum-of-Squares Programs in Practice , 2009, IEEE Transactions on Automatic Control.
[55] Christopher G. Atkeson,et al. Standing balance control using a trajectory library , 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.
[56] Frantisek M. Sobolic,et al. Agile flight control techniques for a fixed-wing aircraft , 2009 .
[57] D. Henrion,et al. Guest Editorial: Special Issue on Positive Polynomials in Control , 2009 .
[58] Alexander C. Shkolnik. Sample-based motion planning in high-dimensional and differentially-constrained systems , 2010 .
[59] Ian R. Manchester,et al. LQR-trees: Feedback Motion Planning via Sums-of-Squares Verification , 2010, Int. J. Robotics Res..
[60] Leslie Pack Kaelbling,et al. Belief space planning assuming maximum likelihood observations , 2010, Robotics: Science and Systems.
[61] M. Jünger,et al. 50 Years of Integer Programming 1958-2008 - From the Early Years to the State-of-the-Art , 2010 .
[62] Claire J. Tomlin,et al. Design of guaranteed safe maneuvers using reachable sets: Autonomous quadrotor aerobatics in theory and practice , 2010, 2010 IEEE International Conference on Robotics and Automation.
[63] Mark M. Tobenkin,et al. Invariant Funnels around Trajectories using Sum-of-Squares Programming , 2010, 1010.3013.
[64] A. Papachristodoulou,et al. A network decomposition approach for efficient sum of squares programming based analysis , 2010, Proceedings of the 2010 American Control Conference.
[65] Antonis Papachristodoulou,et al. Dynamical system decomposition for efficient, sparse analysis , 2010, 49th IEEE Conference on Decision and Control (CDC).
[66] Antonis Papachristodoulou,et al. Structured sum of squares for networked systems analysis , 2011, IEEE Conference on Decision and Control and European Control Conference.
[67] Emilio Frazzoli,et al. Sampling-based algorithms for optimal motion planning , 2011, Int. J. Robotics Res..
[68] Joel W. Burdick,et al. Probabilistic Collision Checking With Chance Constraints , 2011, IEEE Transactions on Robotics.
[69] C. Tomlin,et al. Closed-loop belief space planning for linear, Gaussian systems , 2011, 2011 IEEE International Conference on Robotics and Automation.
[70] Amir Ali Ahmadi. Algebraic relaxations and hardness results in polynomial optimization and Lyapunov analysis , 2012, ArXiv.
[71] Matthew M. Peet,et al. Reducing the Complexity of the Sum-of-Squares Test for Stability of Delayed Linear Systems , 2011, IEEE Transactions on Automatic Control.
[72] Howie Choset,et al. Integrating planning and control for single-bodied wheeled mobile robots , 2011, Auton. Robots.
[73] Nicholas Roy,et al. Rapidly-exploring Random Belief Trees for motion planning under uncertainty , 2011, 2011 IEEE International Conference on Robotics and Automation.
[74] Ron Alterovitz,et al. Motion planning under uncertainty using iterative local optimization in belief space , 2012, Int. J. Robotics Res..
[75] Rekha R. Thomas,et al. Semidefinite Optimization and Convex Algebraic Geometry , 2012 .
[76] Marin Kobilarov,et al. Cross-entropy motion planning , 2012, Int. J. Robotics Res..
[77] Russ Tedrake,et al. Finite-time regional verification of stochastic non-linear systems , 2011, Int. J. Robotics Res..
[78] Russ Tedrake,et al. Robust Online Motion Planning with Regions of Finite Time Invariance , 2012, WAFR.
[79] Emilio Frazzoli,et al. High-speed flight in an ergodic forest , 2012, 2012 IEEE International Conference on Robotics and Automation.
[80] Russ Tedrake,et al. Safety verification of reactive controllers for UAV flight in cluttered environments using barrier certificates , 2012, 2012 IEEE International Conference on Robotics and Automation.
[81] Vijay Kumar,et al. Trajectory generation and control for precise aggressive maneuvers with quadrotors , 2012, Int. J. Robotics Res..
[82] Leslie Pack Kaelbling,et al. Non-Gaussian belief space planning: Correctness and complexity , 2012, 2012 IEEE International Conference on Robotics and Automation.
[83] George J. Pappas,et al. Sequential composition of robust controller specifications , 2012, 2012 IEEE International Conference on Robotics and Automation.
[84] Scott Kuindersma,et al. Robot learning from demonstration by constructing skill trees , 2012, Int. J. Robotics Res..
[85] M. P. Vitus,et al. A hybrid method for chance constrained control in uncertain environments , 2012, 2012 IEEE 51st IEEE Conference on Decision and Control (CDC).
[86] Nicholas Roy,et al. Finite-Time Regional Verification of Stochastic Nonlinear Systems , 2012 .
[87] Pierdomenico Pepe,et al. Time Delay Systems: Methods, Applications and New Trends , 2012 .
[88] J. Andrew Bagnell,et al. Efficient Optimization of Control Libraries , 2011, AAAI.
[89] Martial Hebert,et al. Contextual Sequence Prediction with Application to Control Library Optimization , 2012, Robotics: Science and Systems.
[90] Mehdi Ghasemi,et al. Lower Bounds for Polynomials Using Geometric Programming , 2012, SIAM J. Optim..
[91] Amir Ali Ahmadi,et al. Control design along trajectories with sums of squares programming , 2012, 2013 IEEE International Conference on Robotics and Automation.
[92] Matthew M. Peet,et al. Solving Large-Scale Robust Stability Problems by Exploiting the Parallel Structure of Polya's Theorem , 2014, IEEE Transactions on Automatic Control.
[93] Amir Ali Ahmadi,et al. Complexity of ten decision problems in continuous time dynamical systems , 2012, 2013 American Control Conference.
[94] Edmund M. Clarke,et al. dReal: An SMT Solver for Nonlinear Theories over the Reals , 2013, CADE.
[95] P. Seiler,et al. Simplification Methods for Sum-of-Squares Programs , 2013, 1303.0714.
[96] Didier Henrion,et al. Convex Computation of the Region of Attraction of Polynomial Control Systems , 2012, IEEE Transactions on Automatic Control.
[97] Lydia Tapia,et al. Construction and use of roadmaps that incorporate workspace modeling errors , 2013, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems.
[98] Amir Ali Ahmadi,et al. DSOS and SDSOS optimization: LP and SOCP-based alternatives to sum of squares optimization , 2014, 2014 48th Annual Conference on Information Sciences and Systems (CISS).
[99] Amir Ali Ahmadi,et al. Control and verification of high-dimensional systems with DSOS and SDSOS programming , 2014, 53rd IEEE Conference on Decision and Control.
[100] Pieter Abbeel,et al. Scaling up Gaussian Belief Space Planning Through Covariance-Free Trajectory Optimization and Automatic Differentiation , 2014, WAFR.
[101] Pablo A. Parrilo,et al. Basis selection for SOS programs via facial reduction and polyhedral approximations , 2014, 53rd IEEE Conference on Decision and Control.
[102] Joseph L. Moore,et al. Robust post-stall perching with a fixed-wing UAV , 2014 .
[103] Katie Byl,et al. Experimental Results for Dexterous Quadruped Locomotion Planning with RoboSimian , 2014, ISER.
[104] Matthias Althoff,et al. Online Verification of Automated Road Vehicles Using Reachability Analysis , 2014, IEEE Transactions on Robotics.
[105] Nancy M. Amato,et al. FIRM: Sampling-based feedback motion-planning under motion uncertainty and imperfect measurements , 2014, Int. J. Robotics Res..
[106] Russ Tedrake,et al. Robust post-stall perching with a simple fixed-wing glider using LQR-Trees , 2014, Bioinspiration & biomimetics.
[107] Matthias Althoff,et al. Online safety verification of trajectories for unmanned flight with offline computed robust invariant sets , 2015, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
[108] Mo Chen,et al. Exact and efficient Hamilton-Jacobi reachability for decoupled systems , 2015, 2015 54th IEEE Conference on Decision and Control (CDC).
[109] Martial Hebert,et al. Vision and Learning for Deliberative Monocular Cluttered Flight , 2014, FSR.
[110] Debadeepta Dey. Predicting Sets and Lists: Theory and Practice , 2015 .
[111] Andrew J. Barry. High‐speed autonomous obstacle avoidance with pushbroom stereo , 2018, J. Field Robotics.
[112] Scott Kuindersma,et al. Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot , 2015, Autonomous Robots.