Related Publications:
(Affine LQR-RRT*)
Goretkin, G., Perez, A., Platt, R., Konidaris, G.,
“Optimal Sampling-Based Planning for Linear-Quadratic Kinodynamic Systems,”
in IEEE International Conference on Robotics and Automation (ICRA), 2013. [Pdf][Bibtex]
(LQR-RRT*)
Perez, A., Platt, R., Konidaris, G., Kaelbling, L., Lozano-Perez, T.,
“LQR-RRT*: Optimal Sampling-Based Motion Planning with Automatically Derived Extension Heuristics,”
in IEEE International Conference on Robotics and Automation (ICRA), 2012. [Pdf][Bibtex]
[Light-Dark][Video][ICRA Slides]
LQR-RRT* Astrobee/International Space Station Experiments (B. Doerr et al.):
Doerr, B., Albee, K., Ekal, M., Ventura, R., Linares, R.,
“The ReSWARM Microgravity Flight Experiments: Planning, Control, and Model Estimation for On-Orbit Close Proximity Operations,”
in arXiv preprint arXiv:2301.01319, 2023. [Pdf][Bibtex]
Doerr, B., Albee, K., Ekal, M., Linares, R., Ventura, R.,
“Safe and Uncertainty-Aware Robotic Motion Planning Techniques for Agile On-Orbit Assembly,”
in arXiv preprint arXiv:2102.10348., 2021. [Pdf][Bibtex]
Doerr, B., Linares, R.,
“Motion Planning and Control for On-Orbit Assembly Using LQR-RRT* and Nonlinear MPC,”
in arXiv preprint arXiv:2008.02846., 2020. [Pdf][Bibtex]
Media Coverage
MIT News, NASA.gov, ISS Daily Summary Report, NASA Mission Page,
ORISE, CSE News, MIT Portugal, AAS/AIAA, ARCLab
Related Publication:
(Ball Tree RRT*)
Perez, A., Karaman, S., Shkolnik, A., Frazzoli E., Teller, S. and Walter, M.,
“Asymptotically-optimal Manipulation Planning using Incremental Sampling-based Algorithms,”
in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2011. [Pdf][Bibtex]
[Video][Page][Workshop][IROS Slides]
Media Coverage
MIT News, Slashdot, New Scientist, New England Post, Gizmag, io9, AzoRobotics, Indian Express
Related Publication:
(Anytime RRT*)
Karaman, S., Walter, M., Perez, A., Frazzoli, E., and Teller, S.,
“Anytime Motion Planning using the RRT*,”
in IEEE International Conference on Robotics and Automation (ICRA), 2011. [Pdf][Bibtex]
[Video][Page]
Related Publication:
(Bidirectional RRT*)
Jordan, M., Perez, A.,
“Optimal Bidirectional Rapidly-Exploring Random Trees,” [CSAIL Tech Report MIT-CSAIL-TR-2013-021][Bibtex]
[Page]
Related Publication:
Perez, A.,
“On Randomized Path Coverage of Configuration Spaces,” [CSAIL Tech Report MIT-CSAIL-TR-2013-027][Bibtex]
