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	Snabbt utforskande slumpmässigt träd	Modellprediktiv reglering
Ämnesområde	Reglerteknik	Reglerteknik
Familj	Machine learning	Machine learning
Ursprungsår	1998	1978
Upphovsperson	Steven M. LaValle	Jacques Richalet
Typ	algorithm	algorithm
Ursprungskälla	LaValle, S. M. (1998). Rapidly-exploring random trees: A new tool for path planning. Technical Report TR 98-11, Iowa State University.	Richalet, J., Rault, A., Testud, J., & Papon, J. (1978). Model predictive heuristic control. Automatica, 14(5), 413-428.
Alias	RRT, Incremental Sampling-based Algorithm	MPC, Receding Horizon Control
Närliggande	3	5
Sammanfattning	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.	Model Predictive Control (MPC) is an advanced control strategy that uses an explicit process model to predict future system behavior over a finite horizon and solves an optimization problem at each control step. First formalized by Richalet et al. in 1978, MPC has become the dominant approach in process control industries, from chemical plants to autonomous vehicles, because it naturally handles constraints and can optimize multiple objectives simultaneously.