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14.6.1 Different Ways to
Up:
14. Sampling-Based Planning Under
Previous:
14.5.2 Dynamic Programming with
14
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6
Decoupled Planning Approaches
Subsections
14
.
6
.
1
Different Ways to Decouple the Big Problem
14
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6
.
2
Plan and Transform
14
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6
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3
Path-Constrained Trajectory Planning
14
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3
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1
Expressing systems in terms of
,
, and
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6
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3
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2
Determining the allowable accelerations
14
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6
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3
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3
The path-constrained phase space
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6
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3
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4
Computing optimal solutions via dynamic programming
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6
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3
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5
A bang-bang approach for time optimality
Steven M LaValle 2020-08-14
