STELA combines a sampling-based kinodynamic plan with factor-graph optimization to estimate the past trajectory and adapt future controls in real time for nonlinear robot models.
In: Robotics: Science and Systems XI (2015)
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Kinodynamic Trajectory Following with STELA: Simultaneous Trajectory Estimation & Local Adaptation
STELA combines a sampling-based kinodynamic plan with factor-graph optimization to estimate the past trajectory and adapt future controls in real time for nonlinear robot models.