- 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
Proceedings of the 18th IFAC World Congress, extended version
available online: arXiv:1010.3013 [math.DS], 2011.
MATLAB example in supplemental zip file [ arXiv |
[ .zip ]