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We present an algorithm for obtaining an optimal control policy for hybrid dynamical systems in cluttered environments.
On curves of minimal length with a constraint on average curvature, and with prescribed initial and terminal positions and tangents
L. E. Dubins · 1957
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Differential dynamic programming
D. Jacobson and D. Mayne · 1970
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An algorithm for planning collision-free paths among polyhedral obstacles
T. Lozano-Pérez and M. A. Wesley · 1979
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A unified framework for hybrid control: Model and optimal control theory
M. S. Branicky, V. S. Borkar, and S. K. Mitter · 1998
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Randomized kinodynamic planning
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Mixed integer programming for multi-vehicle path planning
T. Schouwenaars, B. De Moor, E. Feron, and J. How · 2001
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Lqr optimization of linear system switching
B. Lincoln and B. Bernhardsson · 2002
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Control-Limited Differential Dynamic Programming
Y. Tassa, N. Mansard, and E. Todorov · 2014
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Computing large convex regions of obstacle-free space through semidefinite programming
R. Deits and R. Tedrake · 2015
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Efficient mixed-integer planning for uavs in cluttered environments
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Optimal control of hybrid switched systems: A brief survey
F. Zhu and P. J. Antsaklis · 2015
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Feedback control of the pusher-slider system: A story of hybrid and underactuated contact dynamics
F. R. Hogan and A. Rodriguez · 2016
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Motion planning with sequential convex optimization and convex collision checking
J. Schulman, Y. Duan, J. Ho, A. Lee, I. Awwal, H. Bradlow, J. Pan, S. Patil, K. Goldberg, and P. Abbeel · 2014
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A hybrid systems model for simple manipulation and self-manipulation systems
A. M. Johnson, S. A. Burden, and D. E. Koditschek · 2016
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Hybrid control trajectory optimization under uncertainty
J. Pajarinen, V. Kyrki, M. Koval, S. Srinivasa, J. Peters, and G. Neumann · 2017
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