Flow-through policies for hybrid controller synthesis applied to fully actuated systems

IEEE Transactions on Robotics

Volumn 25, Issue 1, 2009, Pages 136-146

  Conner, David C ^a,b   Choset, Howie ^a   Rizzi, Alfred A ^c  

^a CARNEGIE MELLON UNIVERSITY   (United States)

^b TORC Technologies   (United States)

^c Boston Dynamics   (United States)

Author keywords

Feedback control; Hybrid controls; Path planning

Indexed keywords

FEEDBACK CONTROL; HYBRID SYSTEMS; MOTION PLANNING; STABILITY; TOPOLOGY;

CLUTTERED ENVIRONMENTS; CONSTRUCTIVE TECHNIQUES; CONVEX POLYTOPES; FLOW-THROUGH; GLOBAL PROBLEMS; HYBRID CONTROL SYSTEMS; HYBRID CONTROLLERS; HYBRID CONTROLS; INITIAL CONDITIONS; NAVIGATION AND CONTROLS; NEW CLASS; PATH PLANNING; SEQUENTIAL COMPOSITIONS; SIMULATION RESULTS; STABILITY PROPERTIES; SYSTEM CONSTRAINTS;

FEEDBACK;

EID: 60549101864     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2008.2008738     Document Type: Article

References (24)

1. R. R. Burridge, A. A. Rizzi, and D. E. Koditschek, "Sequential composition of dynamically dexterous robot behaviors," Int. J. Robot. Res., vol. 18, no. 6, pp. 534-555, 1999.
2. D. E.Koditschek, "Exact robot navigation bymeans of potential functions: Some topological considerations," in Proc. IEEE Int. Conf. Robot. Autom., 1987, pp. 1-6.
3. E. Rimon and D. E. Kodischek, "Exact robot navigation using artificial potential functions," IEEE Trans. Robot. Autom., vol. 8, no. 5, pp. 501-518, Oct. 1992.
4. C. I. Connolly and R. A. Grupen, "The applications of harmonic functions to robotics," J. Robot. Syst., vol. 10, pp. 931-946, Oct. 1993.
5. B. R. Donald, P. G. Xavier, J. F. Canny, and J. H. Reif, "Kinodynamic motion planning," J. ACM, vol. 40, no. 5, pp. 1048-1066, 1993.
6. R. DeCarlo,M. Branicky, S. Pettersson, and B. Lennartson, "Perspectives and results on the stability and stabilizability of hybrid systems," Proc. IEEE, vol. 88, no. 7, pp. 1069-1082, Jul. 2000.
7. O. Brock and L. E. Kavraki, "Decomposition-based motion planning: A framework for real-time motion planning in high-dimensional configuration places," in Proc. IEEE Int. Conf. Robot. Autom., May, 2001, pp. 1469-1475.
8. A. A. Rizzi, "Hybrid control as a method for robot motion programming," in Proc. IEEE Int. Conf. Robot. Autom., May 1998, vol. 1, pp. 832-837.
9. L. Yang and S. M. Lavalle, "The sampling-based neighborhood graph: An approach to computing and executing feedback motion strategies," IEEE Trans. Robot. Autom., vol. 20, no. 3, pp. 419-432, Jun. 2004.
10. C. Belta, V. Iser, and G. J. Pappas, "Discrete abstractions for robot planning and control in polygonal environments," IEEE Trans. Robot. vol. 21, no. 5, pp. 864-874, Oct. 2005.
11. L. C. G. J. M. Habets and J. H. van Schuppen, "Control of piecewise-linear hybrid systems on simplices and rectangles," Hybrid Syst.: Comput. Control, Lecture Notes Comput. Sci., vol. 2034, pp. 261-274, 2001.
12. L. C. G. J. M. Habets, P. J. Collins, and J. H. van Schuppen, "Reachability and control synthesis for piecewise-affine hybrid systems on simplices," IEEE Trans. Autom. Control, vol. 51, no. 6, pp. 938-948, Jun. 2006.
13. B. Roszak and M. E. Broucke, "Necessary and sufficient conditions for reachability on a simplex," Automatica, vol. 42, no. 11, pp. 1913-1918, Nov. 2006.
14. S. R. Lindemann and S. M. LaValle, "Smoothly blending vector fields for global robot navigation," in Proc. IEEE Conf. Decis. Control, Seville, Spain, 2005, pp. 3553-3559.
15. S. R. Lindemann, I. I. Hussein, and S. M. LaValle, "Realtime feedback control for nonholonomic mobile robots with obstacles," in Proc. IEEE Conf. Decis. Control, San Diego, CA, 2006, pp. 2406-2411.
16. J. M. Keil, "Decomposing a polygon into simpler components," SIAM J. Comput., vol. 14, pp. 799-817, 1985.
17. D. C. Conner. (2008, January). "Integrating planning and control for constrained dynamical systems," Ph.D. dissertation: CMU-RI-TR-08-01, Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA (Online). Available: http://www.ri.cmu.edu/pubs/pub_5961.html
18. L. C. Evans, Partial Differential Equations. Providence, RI: American Mathematical Society, 1998.
19. D. C. Conner, H. Choset, and A. A. Rizzi, "Integrated planning and control for convex-bodied nonholonomic systems using local feedback control policies," in Proceeding of Robotics.: Science and Systems II. Philadelphia, PA: MIT Press, Aug. 2006, pp. 57-64.
20. D. C. Conner, A. A. Rizzi, and H. Choset, "Composition of local potential functions for global robot control and navigation," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., Las Vegas, NV, Oct. 2003, pp. 3546-3551.
21. H. Kress-Gazit, G. E. Fainekos, and G. J. Pappas, "Where's waldo? Sensor-based temporal logic motion planning," in Proc. IEEE Int. Conf. Robot. Autom., Rome, Italy, 2007, pp. 3116-3121.
22. H. Kress-Gazit, G. E. Fainekos, and G. J. Pappas, "From structured english to robot motion," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., San Diego, CA, Oct. 2007, pp. 2717-2722.
23. A. Lewis, "When is a mechanical control system kinematic?," in Proc. IEEE Conf. Decis. Control, 1999, vol. 2, pp. 1162-1167.
24. D. C. Conner, H. Kress-Gazit, H. Choset, A. A. Rizzi, and G. J. Pappas, "Valet parking without a valet," in Proc. 2007 IEEE/RSJ Int. Conf. Intell. Robots Syst., Oct., pp. 572-577.