- Kobilarov cited this paper saying the following: “Conditions for resolution completeness of planning with such primitives [parameterizations of open-loop control with actions and corresponding time durations] have been established.”
- Establishes metric spaces over the control and trajectory spaces
- Based on these metrics, if the domain is Lipshitz, then the mapping between open loop control and trajectories is continuous
- Because of this, it is possible to search the space of actions, as opposed to building a reachability graph.
- This algorithm has guarantees like most motion planning algs, which is that if a solution exists, it will be found eventually
- Not reading this carefully, because I think I already got what I need out of this paper. Most of it is proofs, which I dont really care about – just what is proved.
- Requires continuity, which goes with Lipshitz smoothness
- Algorithm is very simple
- The algorithm effectively deals with noise, as there is a term that deals with error that arises from integration errors.
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