Dynamic Programming Algorithms for Planning and Robotics in Continuous Domains and the Hamilton-Jacobi Equation

Abstract

Outline: 1) Introduction * Optimal control * Dynamic programming (DP). 2) Path Planning * Discrete planning as optimal control * Dijkstra's algorithm & its problems * Continuous DP & the Hamilton-Jacobi (HJ) PDE * The fast marching method (FMM): Dijkstra's for continuous spaces. 3) Algorithms for Static HJ PDEs * Four alternatives * FMM pros & cons. 4) Generalizations * Alternative action norms * Multiple objective planning.

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Document Details

Document Type
Technical Report
Publication Date
Sep 22, 2008
Accession Number
ADA507544

Entities

People

  • Ian Mitchell

Organizations

  • University of British Columbia

Tags

Communities of Interest

  • Autonomy
  • Energy and Power Technologies

DTIC Thesaurus Topics

  • Algorithms
  • Boundaries
  • British Columbia
  • Computer Programming
  • Computer Science
  • Computers
  • Differential Equations
  • Dynamic Programming
  • Equations
  • Interpolation
  • Iterations
  • Mathematics
  • Motion Planning
  • Numbers
  • Numerical Analysis
  • Path Integrals
  • Robotics

Readers

  • Finite Element Method (FEM) for solving Partial Differential Equations (PDEs)
  • Mathematical Modeling and Probability Theory.
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Machine Learning Algorithms
  • Autonomy
  • Autonomy - Autonomous System Control
  • Space
  • Space - Spacecraft Maneuvers