Title:
Optimal Switching Surfaces in Behavior-Based Robotics

dc.contributor.author Axelsson, Henrik
dc.contributor.author Egerstedt, Magnus B.
dc.contributor.author Wardi, Yorai Y.
dc.contributor.corporatename Georgia Institute of Technology. School of Electrical and Computer Engineering
dc.contributor.corporatename Georgia Institute of Technology. Center for Robotics and Intelligent Machines
dc.date.accessioned 2011-04-20T20:15:30Z
dc.date.available 2011-04-20T20:15:30Z
dc.date.issued 2006-12
dc.description (c) 2006 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. en_US
dc.description Digital Object Identifier : 10.1109/CDC.2006.376888
dc.description.abstract 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. en_US
dc.identifier.citation H. Axelsson, M. Egerstedt, and Y. Wardi. Optimal Switching Surfaces in Behavior-Based Robotics. IEEE Conference on Decision and Control, pp. 1954-1959, San Diego, CA, Dec. 2006. en_US
dc.identifier.isbn 1-4244-0171-2
dc.identifier.uri http://hdl.handle.net/1853/38649
dc.language.iso en_US en_US
dc.publisher Georgia Institute of Technology en_US
dc.publisher.original Institute of Electrical and Electronics Engineers
dc.subject Collision avoidance en_US
dc.subject Optimal control en_US
dc.subject Robotic navigation en_US
dc.title Optimal Switching Surfaces in Behavior-Based Robotics en_US
dc.type Text
dc.type.genre Proceedings
dspace.entity.type Publication
local.contributor.author Wardi, Yorai Y.
local.contributor.author Egerstedt, Magnus B.
local.contributor.corporatename School of Electrical and Computer Engineering
local.contributor.corporatename College of Engineering
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relation.isOrgUnitOfPublication 7c022d60-21d5-497c-b552-95e489a06569
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