Symbolic feedback control for navigation

IEEE Transactions on Automatic Control

Volumn 51, Issue 6, 2006, Pages 926-937

  Andersson, Sean B ^a   Hristu Varsakelis, Dimitrios ^b  

^a BOSTON UNIVERSITY   (United States)

^b UNIVERSITY OF MACEDONIA   (Greece)

Author keywords

Markov processes; Mobile robot motion planning; Motion description languages; Symbolic control

Indexed keywords

CONTROL SYSTEMS; MARKOV PROCESSES; MOBILE ROBOTS; MOTION PLANNING; NAVIGATION; OPTIMIZATION; STATISTICAL METHODS;

CONTROL LAWS; MOTION DESCRIPTION LANGUAGES; SYMBOLIC CONTROL;

FEEDBACK CONTROL;

EID: 33745700840     PISSN: 00189286     EISSN: None     Source Type: Journal    
DOI: 10.1109/TAC.2006.876956     Document Type: Article

References (45)

1. P. Rouchon, M. Fliess, M. Levine, and P. Martin, "Flatness, motion planning and trailer systems," in Proc. 32nd IEEE Conf. Decision and Control, Dec. 1993, pp. 2700-2705.
2. M. J. van Nieuwstadt and R. M. Murray, "Real-time trajectory generation for differentially flat systems," Int. J. Robust Nonlinear Control, vol. 8, pp. 995-1020, Sep. 1998.
3. F. Bullo and K. M. Lynch, "Kinematic controllability for decoupled trajectory planning in underactuated mechanical systems," IEEE Trans. Robot. Automat., vol. 17, no. 4, pp. 402-412, Apr. 2001.
4. K. A. McIsaac and J. Ostrowski, "A framework for steering dynamic robotic locomotion systems," Int. J. Robot. Res., vol. 22, no. 2, pp. 83-97, 2003.
5. R. Brockett, "On the computer control of movement," in Proc. 1988 IEEE Conf. Robotics and Automation, 1988, pp. 534-540.
6. R. Brockett, "Formal languages for motion description and map making," in Robotics. Providence, RI: AMS, 1990, pp. 181-193.
7. V. Manikonda, P. S. Krishnaprasad, and J. Hendler, "Languages, behaviors, hybrid architectures and motion control," in Mathematical Control Theory, J. W. J. Baillieul, Ed. New York: Springer-Verlag, 1998, pp. 199-226.
8. D. Hristu-Varsakelis, P. S. Krishnaprasad, S. Andersson, F. Zhang, P. Sodre, and L. D'Anna, The MDLe Engine: A Software Tool for Hybrid Motion Control Inst. Syst. Res., Tech. Rep. TR2000-54, Oct. 2000.
9. D. Hristu-Varsakelis, M. Egerstedt, and P. S. Krishnaprasad, "On the structural complexity of the motion description language MDLe," in Proc. 42nd IEEE Conf. Decision and Control, Dec. 2003, pp. 3360-3365.
10. E. Frazzoli, M. A. Dahleh, and E. Feron, "Real-time motion planning for agile autonomous vehicles," AIAA J. Guid., Control, Dyna., vol. 25, no. 1, pp. 116-129, 2002.
11. E. Frazzoli, M. A. Dalhe, and E. Feron, "Maneuver-based motion planning for nonlinear systems with symmetries," IEEE Trans. Robot., vol. 21, no. 6, pp. 1077-1091, Dec. 2005.
12. M. Egerstedt and C. Martin, "Conflict resolution for autonomous vehicles: A case study in hierarchical control design," Int. J. Hybrid Syst., vol. 2, pp. 221-234, 2002.
13. G. Pappas and S. Simic, "Consistent hierarchies of nonlinear abstractions," in Proc. 39th IEEE Conf. Decision and Control, Dec. 2000, pp. 4379-4384.
14. G. Pappas, G. Lafferriere, and S. Sastry, "Hierarchically consistent control systems," IEEE Trans. Autom. Control, vol. 45, no. 6, pp. 1144-1160, Jun. 2000.
15. P. E. Caines and Y.-J. Wei, "Hierarchical hybrid systems: A lattice theoretic formulation," IEEE Trans. Autom. Control, vol. 43, no. 4, pp. 1-8, Apr. 1998.
16. E. Lemch and P. E. Caines, "Hierarchical hybrid systems; partition deformations and applications to the acrobot system," Int. Workshop on Hybrid Systems: Computation and Control ser. LNCIS, vol. 1386, T. A. Henzinger and S. Sastry, Eds. New York, Springer-Verlag, 1998, pp.237-252.
17. M. Egerstedt and R. Brockett, "Feedback can reduce the specification complexity of motor programs," IEEE Trans. Robot. Automat., vol. 48, no. 2, pp. 213-223, Feb. 2003.
18. M. Egerstedt and D. Hristu-Varsakelis, "Observability and policy optimization for mobile robots," in Proc. 41st IEEE Conf. Decision and Control, Dec. 2002, pp. 3596-3601.
19. D. Hristu-Varsakelis and S. Andersson, "Directed graphs and motion description languages for robot navigation and control," in Proc. IEEE Conf. Robotics and Automation, 2002, pp. 2689-2694.
20. S. Andersson and D. Hristu-Varsakelis, "Stochastic language-based motion control," in Proc. 42nd IEEE Conf. Decision and Control, Dec. 2003, pp. 3313-3318.
21. E. Frazzoli, "Maneuver-based motion planning and coordination for multiple unmanned aerial vehicles," in Proc. AIAA/IEEE Digital Avionics Systems Conf., 2002, pp. 8D3-1-8D3-12.
22. E. Klavins, "A computation and control language for multi-vehicle systems," in Proc. 42nd IEEE Conf. Decision and Control, Dec. 2003, pp. 4133-4139.
23. M. L. Puterman, Markov Decision Processes: Discrete Stochastic Dynamic Programming. New York: Wiley, 1994.
24. F. Zanichelli, "Topological maps and robust localization for autonomous navigation," in Proc. Int. Joint Conf. Artificial Intelligence, Workshop ROB-2, 1999.
25. R. Simmons and S. Koenig, "Probabilistic navigation in partially observable environments," in Proc. Int. Joint Conf. Artificial Intelligence, 1995, pp. 1080-1087.
26. A. Briggs, C. Detweiler, and D. Scharstein, "Expected shortest paths for landmark-based robot navigation," Int. J. Robot. Res., vol. 23, no. 7-8, pp. 717-728, 2004.
27. J. Latombe, Robot Motion Planning. Norwell, MA: Kluwer, 1991.
28. Y. Hwang and N. Ahuja, "Gross motion planning - a survey," ACM Comput. Surveys, vol. 24, no. 3, pp. 219-291, 1992.
29. J.-P. Laumond, Ed., Robot Motion Planning and Control, ser. Lecture Notes in Control and Information Sciences. New York: Springer-Verlag, 1998, vol. 229.
30. R. Madhavan and H. Durrant-Whyte, "Natural landmark-based autonomous vehicle navigation," Robot. Auton. Syst., vol. 46, pp. 79-95, 2004.
31. A. Schultz, W. Adams, and B. Yamauchi, "Integrating exploration, localization, navigation and planning with a common representation," Auton. Robot., vol. 6, no. 3, pp. 293-308, Jun. 1999.
32. B. Kuipers, "The spatial semantic hierarchy," Art. Intell., vol. 119, pp. 191-233, 2000.
33. R. M. J. E. Hopcroft and J. Ullman, Introduction to Automata Theory, Languages, and Computation, 2nd ed. Reading, MA: Addison-Wesley, 2000.
34. J. E. Guivant and E. M. Nebot, "Optimization of the simultaneous localization and map-building algorithm for real-time implementation," IEEE Trans. Robot. Automat., vol. 17, no. 3, pp. 242-257, Jun. 2001.
35. S. Thrun, W. Burgard, and D. Fox, "A probabilistic approach to concurrent mapping and localization for mobile robots," Machine Learn. Auton. Robot., vol. 31, no. 5, pp. 1-25, 1998.
36. M. Martin and H. Moravec, Robot Evidence Grids The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, Tech. Rep. CMU-RI-TR-96-06, 1996.
37. S. Thrun, "Bayesian landmark learning for mobile robot localization," Machine Learn., vol. 33, no. 1, pp. 41-76, 1998.
38. A. Lazanas and J.-C. Latombe, "Landmark-based robot navigation," Algorithmica, vol. 13, no. 5, pp. 472-501, May 1995.
39. A. Lambert and T. Fraichard, "Landmark-based safe path planning for car-like robots," in Proc. IEEE Int. Conf. Robotics and Automation, 2000, pp. 2046-2051.
40. S. Fabrizi and T. Saffioti, "Extracting topology-based maps from gridmaps," in Proc. IEEE Int. Conf. Robotics and Automation, 2000, pp. 2972-2978.
41. B. Zavidovique, "First steps of robotic perception: The turning point of the 1990s," Proc. IEEE, vol. 90, no. 7, pp. 1094-1112, Jul. 2002.
42. R. Luo, C. Yih, and K. Su, "Multisensor fusion and integration: approaches, applications, and future research directions," IEEE Sensors J., vol. 2, no. 2, pp. 107-119, Apr. 2002.
43. D. Bertsekas, Dynamic Programming and Optimal Control. Belmont, MA: Athena Scientific, 1995, vol. 1.
44. D. Fox, S. Thrun, W. Burgard, and F. Dellaert, Particle Filters for Mobile Robot Localization (in Sequential Monte Carlo Methods in Practice), A. Doucet, N. de Freitas, and N. Gordon, Eds. New York: Springer-Verlag, 2000.
45. S. Lenser and M. Veloso, "Sensor resetting localization for poorly modelled mobile robots," in Proc. IEEE Int. Conf. Robotics and Automation, 2000, pp. 1225-1232.