(Georgia Institute of Technology, 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.