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| Arbre d'Exploració Ràpida Aleatòria× | Linealització per retroalimentació× | |
|---|---|---|
| Camp | Teoria de control | Teoria de control |
| Família | Machine learning | Machine learning |
| Any d'origen≠ | 1998 | 1983 |
| Autor original≠ | Steven M. LaValle | Alberto Isidori |
| Tipus | algorithm | algorithm |
| Font seminal≠ | LaValle, S. M. (1998). Rapidly-exploring random trees: A new tool for path planning. Technical Report TR 98-11, Iowa State University. link ↗ | Isidori, A. (1995). Nonlinear Control Systems (3rd ed.). Springer-Verlag. DOI ↗ |
| Àlies≠ | RRT, Incremental Sampling-based Algorithm | Exact Linearization, Nonlinear Feedback Control, Input-Output Linearization |
| Relacionats≠ | 3 | 4 |
| Resum≠ | The Rapidly-Exploring Random Tree (RRT) is a motion planning algorithm that builds a tree of feasible paths by iteratively sampling random configurations in the workspace and connecting them to the nearest existing node in the tree. Introduced by LaValle in 1998, RRT is a breakthrough for high-dimensional motion planning, enabling robots to find collision-free paths in complex environments with obstacles, joint limits, and kinematic constraints. | Feedback Linearization is a nonlinear control technique that uses a nonlinear state-feedback transformation to convert a nonlinear system into a linear one, enabling the use of standard linear control methods. Developed by Isidori, Sontag, and others in the 1980s, feedback linearization is conceptually elegant and powerful: if the system satisfies certain structural conditions (relative degree, decoupling matrix rank), the nonlinearities can be exactly cancelled through feedback, reducing the problem to linear design. |
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