Locally optimal decomposition for autonomous obstacle avoidance with the Tunnel-MILP algorithm

Proceedings of the IEEE Conference on Decision and Control

Volumn , Issue , 2008, Pages 540-545

  Vitus, Michael P ^a,d   Waslander, Steven L ^b   Tomlin, Claire J ^c,e  

^a STANFORD UNIVERSITY   (United States)

^b UNIVERSITY OF WATERLOO   (Canada)

^c UNIVERSITY OF CALIFORNIA   (United States)

^d Aeronautics and Astronautics   (United States)

^e Dep of Electrical Engineering and   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

CONTROL ENGINEERING;

AUTONOMOUS OBSTACLE AVOIDANCES; CONVEX POLYGON; LOCAL OPTIMALITY; OPTIMAL DECOMPOSITION; PATH PLANNING METHOD;

INTEGER PROGRAMMING;

EID: 62949230125     PISSN: 07431546     EISSN: 25762370     Source Type: Conference Proceeding    
DOI: 10.1109/CDC.2008.4739394     Document Type: Conference Paper

References (14)

1. G. Hoffmann, H. Huang, S. Waslander, and C. J. Tomlin, "Quadrotor helicopter flight dynamics and control: Theory and experiment," in Proceedings of the AIAA Conference on Guidance, Navigation and Control, (Hilton Head, South Carolina), August 2007.
2. A. Richards, Y. Kuwata, and J. How, "Experimental demonstrations of real-time MILP control," in Proceeding of the AIAA Guidance, Navigation, and Control Conference, August 2003.
3. M. G. Earl and R. D'Andrea, "Iterative MILP methods for vehiclecontrol problems," Robotics, IEEE Transactions on, vol. 21, no. 6, pp. 1158-1167, 2005.
4. M. R. Garey and D. S. Johnson, Computers And Intractability: A guide to the Theory of NP-Completeness. New York, NY, USA: W. H. Freeman and Co., 1979.
5. L. E. Kavraki, P. Svestka, J.-C. Latombe, and M. H. Overmars, "Probabilistic Roadmaps for Path Planning in High-Dimensional Configuration Spaces," IEEE Transactions on Robotics and Automation, vol. 12, no. 4, pp. 566-580, 1996.
6. M. P. Vitus, V. Pradeep, G. Hoffmann, S. L. Waslander, and C. J. Tomlin, "Tunnel-MILP: Path planning with sequential convex polytopes," in In the Proceedings of the AIAA Guidance, Navigation, and Control Conference, (Honolulu, Hawaii, USA), 2008.
7. T. Asand, T. Asano, L. Guibas, J. Hershberger, and H. Imai, "Visibility of disjoint polygons," Algorithmica, vol. 1, pp. 49-63, 1986.
8. S. Osher and R. Fedkiw, Level Set Methods and Dynamic Implicit Surfaces. New York, NY, USA: Springer-Verlag, 2002.
9. B. Chazelle, Advances in Robotics, Vol.1: Algorithmic and Geometric Aspects of Robotics, ch. Approximation and Decomposition of Shapes, pp. 145-185. Lawrence Erlbaum Associates, 1987.
10. L. P. Chew, "Constrained delaunay triangulations," in Proceedings of the Third Annual Symposium on Computational geometry, (New York, NY, USA), pp. 215-222, ACM, 1987.
11. B. Chazelle and D. P. Dobkin, "Optimal convex decompositions," in Computatinoal Geometry (G. Toussaint, ed.), pp. 63-133, Amsterdam: North-Holland, 1985.
12. A. Lingas, "The power of non-rectilinear holes," Proceedings of the 9th Colloquium on Automata, Languages and Programming, vol. 140, pp. 369-383, 1982.
13. H. Martini and V. Soltan, "Minimum convex partition of polygonal domains by guillotine cuts," Discrete and Computational Geometry, vol. 19, no. 2, pp. 291-305, 1998.
14. S. Boyd and L. Vandenberghe, Convex Optimization. Cambridge, England: Cambridge University Press, 2004.