Basics
Typical Planning Methods Overview
Search-based Path Finding
Graph Search Basis
Dijkstra and A*
Jump Point Search
Sampling-based Path Finding
Probabilistic Road Map
Rapidly-exploring Random Tree (RRT)
Optimal Sampling-based Methods
Advanced Sampling-based Methods
Kinodynamic Path Finding
State-state Boundary Value Optimal Control Problem
State Lattice Search
Kinodynamic RRT*
Hybrid A*
Minimum Snap Trajectory Generation
Differential Flatness
Minimum Snap Optimization
Closed-form Solution to Minimum Snap
Time Allocation
Soft and Hard Constrained Trajectory Generation
Soft Constrained Trajectory Optimization
Hard Constrained Trajectory Optimization
Markov Decision Process-based Planning
Uncertainies in Planning and MDP
Minimax Cost Planning and Expected Cost Minimal Planning
Value Iteration and Real-time Dynamic Programming
Model Predictive Control for Robotics Planning
Linear MPC
Non-linear MPC
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