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  • The LQR-Trees software toolbox for MATLAB is currently being alpha-tested. A public beta release is expected shortly.

    The most difficult part of the LQR-Trees algorithm to implement is the trajectory verification (e.g., computing the funnels). You can find the technical details in the following paper, and a stand-alone MATLAB example in the supplemental zip file.

    • Mark M. Tobenkin, Ian R. Manchester, and Russ Tedrake. Invariant funnels around trajectories using sum-of-squares programming. Proceedings of the 18th IFAC World Congress, extended version available online: arXiv:1010.3013 [math.DS], 2011. MATLAB example in supplemental zip file [ arXiv | http ] [ .zip ]

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