A new alignment heuristic and star-shaped simplex chain construction for feedback motion planning reduces average path bending by 91.4% and LQR effort by 45.5% while remaining computationally efficient.
Real-time obstacle avoidance for manipulators and mobile robots
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Smooth Feedback Motion Planning with Reduced Curvature
A new alignment heuristic and star-shaped simplex chain construction for feedback motion planning reduces average path bending by 91.4% and LQR effort by 45.5% while remaining computationally efficient.