Title:
Multi-Modal Control Using Adaptive Motion Description Languages
Multi-Modal Control Using Adaptive Motion Description Languages
Author(s)
Mehta, Tejas R.
Egerstedt, Magnus B.
Egerstedt, Magnus B.
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Abstract
In this paper, we address the problem of adaptively enriching motion description languages for multi-modal control by
systematically enlarging the set of available modes. This problem is formulated as an optimal control problem, where new
modes are designed by combining recurring mode string fragments into smooth, new "meta-modes" and variational arguments
are employed to derive optimality conditions for this construction.
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Date Issued
2007-11-04
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Text
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Pre-print