R3T: Rapidly-exploring random reachable set tree for optimal kinodynamic planning of nonlinear hybrid systems
We introduce R3T, a reachability-based variant of the rapidly-exploring random tree (RRT)
algorithm that is suitable for (optimal) kinodynamic planning in nonlinear and hybrid …
algorithm that is suitable for (optimal) kinodynamic planning in nonlinear and hybrid …
PICE: Polyhedral Complex Informed Counterfactual Explanations
Polyhedral geometry can be used to shed light on the behaviour of piecewise linear neural
networks, such as ReLU-based architectures. Counterfactual explanations are a popular …
networks, such as ReLU-based architectures. Counterfactual explanations are a popular …
Robust explicit model predictive control for hybrid linear systems with parameter uncertainties
Explicit model-predictive control (MPC) is a widely used control design method that employs
optimization tools to find control policies offline; commonly it is posed as a semi-definite …
optimization tools to find control policies offline; commonly it is posed as a semi-definite …
Sampling-based planning for hybrid systems via reachability guidance and policy approximation
A Wu - 2020 - dspace.mit.edu
Hybrid systems arise in many robotic problems such as manipulation and locomotion, and
efficient motion planning is critical for obtaining practical implementations of these systems …
efficient motion planning is critical for obtaining practical implementations of these systems …