AURA combines online replanning and optimization into an asymptotically optimal framework that improves trajectory quality and tracking accuracy under uncertainty for kinodynamic systems.
Kraft: Sampling-based kinodynamic replanning and feedback control over approximate, identified models of vehicular systems,
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AURA: Asymptotically Optimal Uncertainty-Robust Replanning Algorithm for Kinodynamic Systems
AURA combines online replanning and optimization into an asymptotically optimal framework that improves trajectory quality and tracking accuracy under uncertainty for kinodynamic systems.