A Hybrid Control Framework for Robust Maneuver-based motion planning
Submitted by ricardo on February 28, 2017 - 2:36pm
| Title | A Hybrid Control Framework for Robust Maneuver-based motion planning |
| Publication Type | Conference Paper |
| Year of Publication | 2008 |
| Authors | Sanfelice R.G, Frazzoli E. |
| Conference Name | Proc. 27th American Control Conference |
| Keywords | hybrid systems |
| Abstract | We introduce a modeling framework for robustness of maneuver-based motion planning algorithms for nonlinear systems with symmetries. Our framework implements a hybrid controller that robustly combines motion primitives from a pre-defined library. The closed-loop system is viewed as a hybrid system with flows given by a differential equation, jumps given by a difference equation, and two sets where these dynamics are allowed. We show that our hybrid controller for implementation of motion planning algorithms confers to the closed-loop system robustness properties to a large class of perturbations. |
| URL | https://hybrid.soe.ucsc.edu/files/preprints/26.pdf |
| DOI |
