Title:
Behavior-Based Switch-Time MPC for Mobile Robots
Behavior-Based Switch-Time MPC for Mobile Robots
| dc.contributor.author | Droge, Greg | en_US |
| dc.contributor.author | Kingston, Peter | en_US |
| dc.contributor.author | Egerstedt, Magnus B. | en_US |
| dc.contributor.corporatename | Georgia Institute of Technology. School of Electrical and Computer Engineering | en_US |
| dc.contributor.corporatename | Georgia Institute of Technology. Center for Robotics and Intelligent Machines | en_US |
| dc.date.accessioned | 2013-02-13T16:03:45Z | |
| dc.date.available | 2013-02-13T16:03:45Z | |
| dc.date.issued | 2012-10 | |
| dc.description | © 2012 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or distribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE. This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder. | en_US |
| dc.description | Presented at the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 7-12, 2012, Vilamoura, Algarve, Portugal. | en_US |
| dc.description | DOI: 10.1109/IROS.2012.6385676 | en_US |
| dc.description.abstract | Model predictive control can be computationally intensive as it has to compute an optimal control trajectory at each time instant. As such, we present a method in which parametrized behaviors are introduced as a level of abstraction to give a finite representation to the control trajectory optimization. As these control laws can be designed to accomplish different tasks, the robot is able to use the presented framework to tune the parameters online to achieve desirable results. Moreover, we build on switch-time optimization techniques to allow the model predictive control framework to optimize over a series of given behaviors, allowing for an added level of adaptability. We illustrate the utility of the framework through the control of a nonholonomic mobile robot. | en_US |
| dc.identifier.citation | G. Droge, P. Kingston, and M. Egerstedt, “Behavior-Based Switch-Time MPC for Mobile Robots,” IEEE/RSJ International Conference on Intelligent Robots and Systems , Algarve, Portugal, Oct. 2012. | en_US |
| dc.identifier.doi | 10.1109/IROS.2012.6385676 | |
| dc.identifier.isbn | 978-1-4673-1737-5 | |
| dc.identifier.issn | 2153-0858 | |
| dc.identifier.uri | http://hdl.handle.net/1853/46179 | |
| dc.language.iso | en_US | en_US |
| dc.publisher | Georgia Institute of Technology | en_US |
| dc.publisher.original | Institute of Electrical and Electronics Engineers | en_US |
| dc.subject | Mobile robots | en_US |
| dc.subject | Switch time optimization techniques | en_US |
| dc.subject | Model predictive control | en_US |
| dc.title | Behavior-Based Switch-Time MPC for Mobile Robots | en_US |
| dc.type | Text | |
| dc.type.genre | Proceedings | |
| dc.type.genre | Post-print | |
| dspace.entity.type | Publication | |
| local.contributor.author | Egerstedt, Magnus B. | |
| local.contributor.corporatename | School of Electrical and Computer Engineering | |
| local.contributor.corporatename | College of Engineering | |
| relation.isAuthorOfPublication | dd4872d3-2e0d-435d-861d-a61559d2bcb6 | |
| relation.isOrgUnitOfPublication | 5b7adef2-447c-4270-b9fc-846bd76f80f2 | |
| relation.isOrgUnitOfPublication | 7c022d60-21d5-497c-b552-95e489a06569 |
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