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Wardi, Yorai Y.

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Author: Egerstedt, Magnus B. × End date: 2009 × Start date: 2005 ×

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Optimal Switching Surfaces in Behavior-Based Robotics

2006-12 , Axelsson, Henrik , Egerstedt, Magnus B. , Wardi, Yorai Y.

In this paper an optimal solution is presented for the problem of avoiding obstacles while progressing towards a goal for a single robot. In particular, the solution is obtained by allowing the robot to switch between a fixed number of behaviors and optimizing over what behaviors to use and when to switch between them. It is moreover shown that the structure of the switching law only depends on the distance between the obstacle and the goal. Hence, once initial simulations are done, a guard can be generated with a fixed structure, and, given that the robot knows the distance between the obstacle and the goal, it knows when to switch in order to execute the pre-computed (optimal) solution. Therefore the solution lends itself nicely to real-time implementations. Experiments moreover verify that the proposed methods transitions well onto a real robotic platform.

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Reactive Robot Navigation Using Optimal Timing Control

2005-06 , Axelsson, Henrik , Egerstedt, Magnus B. , Wardi, Yorai Y.

In this paper a solution is presented for the problem of avoiding obstacles while progressing towards a goal for a single robot. In particular, an optimal solution is obtained by allowing the robot to switch between a fixed number of behaviors and optimizing over what behaviors to use and when to switch between them. We moreover show that the structure of the switch law only depends on the distance between the obstacle and the goal. Hence, once initial simulations are done, the structure of the guard is known to the robot and, given that the robot knows the distance between the obstacle and the goal, it knows when to switch to obtain the optimal solution. Therefore the solution lends itself to real-time implementations. The feasibility of the approach is verified in real robotics experiments.

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An Optimal Control Approach to Mode Generation in Hybrid Systems

2006-09 , Egerstedt, Magnus B. , Azuma, Shun-ichi , Wardi, Yorai Y.

Optimal switch-time control is an area that investigates how best to switch between different control modes. In this paper we present an algorithm for solving the optimal switch-time control problem for single-switch, linear systems where the state of the system is only partially known through the outputs. A method is presented that both guarantees that the current switch-time remains optimal as the state estimates evolve, and that ensures this in a computationally feasible manner, thus rendering the method applicable to real-time applications. An extension is moreover considered where constraints on the switch-time provides the observer with sufficient time to settle. The viability of the proposed method is illustrated through a number of examples.

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Obstacle Avoidance for Mobile Robots Using Switching Surface Optimization

2005-07 , Boccadoro, Mauro , Egerstedt, Magnus B. , Wardi, Yorai Y.

This paper studies the problem of letting an autonomous mobile robot negotiate obstacles in an optimal manner. In particular, a multi-modal control problem is addressed, where different modes of operation control the robot at different locations in the state space. The specification of the optimal discrete event dynamics is pursued through the design of optimal, parametrized switching surfaces, using results on switching surface optimization.

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