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Locally Optimal Planning in High Dimensions
K. Usui
master's thesis, tech. report CMU-RI-TR-07-34, Robotics Institute, Carnegie Mellon University, August, 2007.

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Abstract

Algorithms which guarantee to find globally optimal trajectories by covering a hypervolume of state space become infeasible in high dimensions. We have developed an algorithm which generates locally optimal trajectories without covering a hypervolume which only requires polynomial memory and time. Even though the algorithm does not guarantee a globally optimal trajectory in a deterministic manner, it is experimentally shown that resulting trajectories are reasonable for pendulum swing-up tasks. Results are shown for pendulum with 1- and 2-links and compared to globally optimal trajectories obtained by dynamic programming. Furthermore, results for 3-link pendulum of which globally optimal trajectory is currently unknown are presented.

Notes

Number of pages: 11

Text Reference

K. Usui, Locally Optimal Planning in High Dimensions, master's thesis, tech. report CMU-RI-TR-07-34, Robotics Institute, Carnegie Mellon University, August, 2007.

BibTeX Reference

@mastersthesis{Usui_2007_5865,
   author = "Kei Usui",
   title = "Locally Optimal Planning in High Dimensions",
   school = "Robotics Institute, Carnegie Mellon University",
   month = "August",
   year = "2007",
   address = "Pittsburgh, PA"
}