I am reviewing this article:

LQR-RRT∗: Optimal Sampling-Based Motion Planning with Automatically Derived Extension Heuristics ,Alejandro Perez, Robert Platt Jr., George Konidaris, Leslie Kaelbling and Tomas Lozano-Perez

the link is here https://lis.csail.mit.edu/pubs/perez-icra12.pdf

I don't understand why they need to propose LQR-RRT* to control the pendulum while we can only use LQR to achieve the desired point with optimal cost (either energy or time)


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