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. Author manuscript; available in PMC: 2017 Apr 1.
Published in final edited form as: IEEE Trans Autom Sci Eng. 2016 Jan 27;13(2):437–447. doi: 10.1109/TASE.2016.2517124

Fig. 2.

Fig. 2

(a) The SELQR trajectory for a car-like robot moving to a green goal while avoiding red obstacles. (b) Mean and standard deviations for the deviation from the goal over 1,000 simulations for SELQR and related methods with different noise levels.