CDC2000 Motion Planning

Motion Planning
Home Full List of Titles 1: Proceedings of CDC2000 Discrete Event Systems Control in Communication Systems Optimal Control and Applications I Optimisation Approaches and Methods Model Predictive Control Advances in Linear Estimation Stochastic and Uncertain Systems Nonlinear Control and Applications Nonlinear Estimation and Filtering Formation Control and its Applications New Approaches to Fuzzy Control Manufacturing Systems Automotive Applications Stability Issues in Hybrid Control Recent Advances in Stochastic Networks Optimal Control and Applications II Robust Controller Design - mu, L1 and H2 Constrained and Receding Horizon Control Identification and Control around the World Markov Decision Processes Nonlinear Optimisation Observers for Nonlinear Systems Motion Planning Neural / Fuzzy Stability and Control Motor Control Control of Quantum Phenomena I Hybrid Systems Methods Control in Communication Networks Robustness and Optimisation Bumpless Transfer, Antiwindup and Saturation Adaptive Control: Linear Systems Estimation and Closed Loop Identification Control of Markov Processes Nonlinear Filtering and Control Modelling, Identification and Validation of Nonlinear Systems Differential Geometric Control Theory for Mechanical Systems Nonlinear Output Feedback Control Pneumatics and Compression Systems Control of Quantum Phenomena II Stability of Hybrid Systems Performance Analysis in Communication Networks Adaptive Control of Nonlinear Systems LMI Methods in Design Robust Control of Time Delay Systems Subspace Identification Methods Nonlinear Stochastic Filtering and Estimation Bifurcations, Chaos and Control I New Progress in Synthesis of Nonlinear Systems I Implementation Issues of Sliding Mode Control Theory Control of Mixing in Shear Flows Novel Neural Network Control Techniques for Industrial Motion Control Systems Physiological Control Systems Optimal Control of Hybrid Systems Stochastic Models for Communication Networks Control and Stabilisation of Nonlinear Systems New Directions in Robust Control Linear Systems Theory Advanced Topics in Systems Theory Estimation in Action Bifurcations, Chaos and Control II New Progress in Synthesis of Nonlinear Systems II Numerical Design and Analysis Techniques for Nonlinear Systems Analysis and Control of Underactuated Systems Sliding Mode Control I Challenges in the Application of Control to Computer Systems Estimation and Diagnosis of Discrete Event Systems Communications and Games Optimal Control Stochastic Systems Model Reduction Methodologies Identification and Subspace Methods Applications of Nonlinear Adaptive Control Advances in Nonlinear Output Feedback Design The Behavioural Approach to Systems and Control Vision Based Estimation and Control: Recent Advances and Open Problems Agile Control of Military Operations Sliding Mode Control II Model-based Fault Diagnosis of Industrial Processes Discrete Event Systems / Petri Nets System Identification and Confidence Estimation New Approaches to H-Infinity Control I Probabilistic Approaches to Robust Control Time Delay System Stabilisation Identification Methods Controlled Stochastic Processes Output Feedback of Nonlinear Systems Topics in Nonlinear Stabilisation Mobile Robots: Tracking Control Robust Control of Nonlinear Systems Power Systems Stabilisation and Control Disk Drive Control Hybrid Control Applications Discrete Time Systems New Approaches to H-Infinity Control II Linear Systems with Saturating Actuators New Theories in Distributed Parameter Systems Applications of Estimation and Identification Stochastic Control and Tuning Methodologies Control of Nonlinear Systems Iterative Learning and Control Coordinating Robot Systems Nonlinear Time Varying Systems Novel Applications of Neural Networks Aerospace Applications Switched Systems Implicit and Descriptor Systems LQG Periodic Systems and Disturbances New Horizons for Distributed Parameter Systems State Estimation Learning and Neuro-Control Nonlinear Control and Stabilisation I Tracking Vision Servoing Controllability of Nonlinear Systems Control of Flexible Systems Electro-Mechanical Systems Robust Control Methods and Applications Fault Detection and Diagnosis Optimisation and Applications Robust Stability Analysis Numerical Methods in Control Filtering in Continuous Time Stochastic Systems Interplay between Control and Signal Processing Fault Detection and Analysis Nonlinear Dynamical Systems Nonlinear Time Delay Systems Computational Issues in Nonlinear Control Disturbance Rejection Process Control Industry Applications Linear Parameter Varying Systems Linear Control Systems Dynamic and Nonlinear Programming Model Reduction Applications New Techniques for Control and Systems: Numerical Linear Algebra Estimation and Identification using Hidden Markov Models Applications of Stochastic Control Topics in Linear Design Nonlinear Control and Stabilisation II Ambulatory Robot Systems Chaotic and Oscillatory Systems Biomedical System Control Integrated Control and CPU Scheduling Linear Design Techniques Adaptive Disturbance / Noise Compensation Nonlinear Model Predictive Control Sensitivity Design, Analysis and Limitations Analysis of Linear Systems Linear Matrix Inequalities in Design Lyapunov's 2nd Method Robotics: Tracking Control Lagrangian and Hamiltonian Theory Variable Structure Control Machine Vision Signal Processing Methods in Control Applied Nonlinear Control Author Index A B C D E F G H I J K L M N O P Q R S T U V W X Y Z	Obstacle Avoidance of Manipulators with Rate Constraints Authors: Toshiharu Sugie, Yutaka Kito, Kenji Fujimoto, Volume: 1, Page 815 Paper number 1852 Abstract: The paper presents a new control method which achieves autonomous obstacle avoidance for manipulators with rate constraints. More precisely, in order to achieve the autonomous obstacle avoidance, we exploit the freedom of the coordinate transformation for exact linearization of nonlinear systems. At the same time, we cope with the rate constraints by adopting the state-dependent time scale transformation. Furthermore, we apply this method to an actual 2-link robot manipulator, and evaluate its effectiveness by experiment, which is the most important part of the paper. CD001852.PDF (From Author) TOP Robust Hybrid Control for Autonomous Vehicle Motion Planning Authors: Emilio Frazzoli, Munther A. Dahleh, Eric Feron, Volume: 1, Page 821 Paper number 1159 Abstract: The operation of an autonomous vehicle in an unknown, dynamic environment is a very complex problem, especially when the vehicle is required to use its full maneuvering capabilities, and to react in real time to changes in they operational environment. A possible approach to reduce the computational complexity of the motion planning problem for a nonlinear, high dimensional system, is based on a quantization of the system dynamics, leading to a control architecture based on a hybrid automaton, the states of which represent feasible trajectory primitives for the vehicle. This paper focuses on the feasibility of this approach, in the presence of disturbances and uncertainties in the plant and/or in the environment: the structure of a Robust Hybrid Automaton is defined and its properties are analyzed. In particular, we address the issues of well-posedness, consistency and reachability. For the case of autonomous vehicles, we provide sufficient conditions to guarantee reachability of the automaton. CD001159.PDF (From Author) TOP Two Multi-Sensor-Based Control Strategies For Driving A Robot Amidst Obstacles Authors: Viviane Cadenat, Philippe Soueres, Michel Courdesses, Volume: 1, Page 827 Paper number 1492 Abstract: We present two sensor-based control strategies for driving a wheeled robot equipped with a mobile camera and a 2D laser range finder amidst obstacles. The goal of the work is to show that a feedback control can be designed on the base of the information coming from different sensors considered at the same level. Taking advantage from the redundancy with respect to the nominal visual task the controller allows to modify the robot trajectory to avoid obstacles. In both cases, the control stability and the consistency of the method is proven. Simulations results are described at the end of the paper. CD001492.PDF (From Author) TOP A Set Theoretic Approach To The Simultaneous Localization And Map Building Problem Authors: Mauro Di Marco, Andrea Garulli, Simon Lacroix, Antonio Vicino, Volume: 1, Page 833 Paper number 1690 Abstract: Self localization of mobile robots is one of the most important problems in long range autonomous navigation. When moving in an unknown environment, the navigator must exploit measurements from exteroceptive sensors to build a map, identify landmarks and, at the same time, localize itself with respect to them. This problem is known as Simultaneous Localization And Mapping (SLAM). In this paper a set theoretic approach to the SLAM problem is presented. Estimates of the position of the robot and the selected landmarks are derived in terms of uncertainty regions, under the hypothesis that the errors affecting all sensor measurements are unknown but bounded. Set approximation techniques are adopted in order to provide efficient recursive algorithms, suitable for on-line implementation. CD001690.PDF (From Author) TOP Polygonal Approximation Of Uncertain Height Fields For Outdoor Navigation Authors: Mauro Di Marco, Domenico Prattichizzo, Antonio Vicino, Volume: 1, Page 839 Paper number 1913 Abstract: Exploring unstructured and unknown environments is one of the most important tasks of mobile robotics. Usually, in outdoor navigation, exploring unstructured environments is based on or is functional to map making procedures. This paper deals with the problem of representing and updating maps from height field measurements. A technique for dynamic updating maps, in the presence of bounded uncertainties on the height field is presented. The technique is based on the set membership estimation theory, and allows for adaptive refinement of the environment description. CD001913.PDF (From Author) TOP A New Computational Approach to Real-Time Trajectory Generation for Constrained Mechanical Systems Authors: Mark B. Milam, Kudah Mushambi, Richard M. Murray, Volume: 1, Page 845 Paper number 2010 Abstract: Preliminary results of a new computational approach to generate aggressive trajectories in real-time for constrained mechanical systems are presented. The algorithm is based on a combination of nonlinear control theory, spline theory, and sequential quadratic programming. It is demonstrated that real-time trajectory generation for constrained mechanical systems is possible by mapping the problem to one of finding trajectory curves in a lower dimensional space. Performance of the algorithm is compared with existing optimal trajectory generation techniques. Numerical results are reported using the NTG software package. CD002010.PDF (From Author) TOP Indirect Obstacle Control Problem For Variational Inequalities Authors: Qihong Chen, Volume: 1, Page 852 Paper number 5 Abstract: This paper is concerned with the optimal control of systems governed by a variational inequality coupled with a semilinear partial differential equation via the constraint of obstacle. The main feature of the problem is that the action of control (via the obstacle) gets into the multivalued operator. The control domain is assumed to be merely a separable metric space. Neither the convexity of control domain nor the smoothness of control is imposed. The regularity of the obstacle, which is required in the state analysis of our problem, relies on the governing equation. We are mainly interested in establishing the existence of optimal controls and deriving optimality conditions in the form of Pontryagin principle. CD000005.PDF (From Author) CD000005.PDF (Scanned) TOP