8.5 Sampling-Based Methods for Continuous Spaces

The methods in Section 8.4 can be considered as the feedback-case analogs to the combinatorial methods of Chapter 6. Although such methods provide elegant solutions to the problem, the issue arises once again that they are either limited to lower dimensional problems or problems that exhibit some special structure. This motivates the introduction of sampling-based methods. This section presents the feedback-case analog to Chapter 5.

- 8.5.1 Computing a Composition of Funnels
- 8.5.1.1 An approximate cover
- 8.5.1.2 Defining a feedback plan over a cover
- 8.5.1.3 A sampling-based approach

- 8.5.2 Dynamic Programming with Interpolation
- 8.5.2.1 Using interpolation for continuous state spaces
- 8.5.2.2 The connection to feedback motion planning
- 8.5.2.3 Obtaining Dijkstra-like algorithms

- Further Reading
- Exercises

Steven M LaValle 2012-04-20