LaValle Planning Algorithms, ch 7


  • (270) Mixing discrete & continuous planning is possible by taking the product of the two spaces, called the mode space, in control theory, this is called a hybrid system
  • (276) In grasping tasks configurations must be stable (no dropping/gravity effects) since normal planning can’t deal with these situations once its become unstable
  • (295) Continuous Dijkstra’s
  • (296) Since most planning is NP-H approximations or heuristics are necessary
    • Approximate optimal motion planning uses discrete time (not continuous) to find a near optimal solution
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