@inproceedings{daa406a0742e4cf6ba86500ba5158be7,
title = "Sampling-based planning, control, and verification of hybrid systems",
abstract = "in this paper, we survey a planning, control, and verification approach in terms of sampling-based tools, such as Rapidly-exploring Random Trees (RRTs) and Probabilistic RoadMaps (PRMs). We review RRTs and PRMs for motion planning and show how to use them to solve standard nonlinear control problems. We extend them to the case of hybrid systems and describe our modifications to LaValle's Motion Strategy Library to allow for hybrid planning and verification. Finally, we extend them to purely discrete spaces (replacing distance metrics with cost-to-go heuristic estimates and substituting local planners for straight-line connectivity) and provide computational experiments comparing them to conventional methods, such as A*. We also review our work on the coverage, optimality properties, and computational complexity of sampling-based techniques.",
keywords = "Complexity, Computational methods and tools, Discrete spaces, Hybrid systems, Motion planning, Sampling-based planning, Verification",
author = "Branicky, {Michael S.} and Curtiss, {Michael M.} and Joshua Levine and Stuart Morgan",
note = "Funding Information: 1 Partially supported by NSF grant CCR-0208919. 2 Corresponding Author: mb@ieee.org Funding Information: This work was partially supported by the NSF Embedded and Hybrid Systems program, under the direction of Dr. Helen Gill (grant CCR-0208919); it does not necessarily reflect the views of the NSF.",
year = "2005",
doi = "10.3182/20050703-6-cz-1902.00330",
language = "English (US)",
isbn = "008045108X",
series = "IFAC Proceedings Volumes (IFAC-PapersOnline)",
publisher = "IFAC Secretariat",
pages = "271--276",
booktitle = "Proceedings of the 16th IFAC World Congress, IFAC 2005",
}