Algorithms for Computing Numerical Optimal Feedback Motion Strategies

摘要: The authors address the problem of computing a navigation function that serves as feedback motion strategy for problems involve generic differential constraints, nonconvex collision and optimization specified criterion. determination analytical solutions to such is well beyond state art; therefore, focus on obtaining numerical are based discretization space (although they do not force trajectories visit discretized points). This work improves classical optimal control techniques interest authors. By introducing simplicial complex representation, propose novel interpolation scheme reduces key bottleneck in from O(2n) running time O(n lg n), which n dimension. exploiting local structure present progressive series three improved algorithms use dynamic programming con...