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Integrated motion p...
Integrated motion planning and control under metric interval temporal logic specifications
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- Barbosa, Fernando S. (författare)
- KTH,Robotik, perception och lärande, RPL
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- Lindemann, Lars (författare)
- KTH,Reglerteknik,Decision and Control Systems
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- Dimarogonas, Dimos V. (författare)
- KTH,Reglerteknik,Decision and Control Systems
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- Tumova, Jana (författare)
- KTH,Robotik, perception och lärande, RPL
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(creator_code:org_t)
- Institute of Electrical and Electronics Engineers (IEEE), 2019
- 2019
- Engelska.
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Ingår i: 2019 18th European Control Conference, ECC 2019. - : Institute of Electrical and Electronics Engineers (IEEE). - 9783907144008 ; , s. 2042-2049
- Relaterad länk:
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https://ecc19.eu/
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https://ieeexplore.i...
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https://urn.kb.se/re...
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https://doi.org/10.2...
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Abstract
Ämnesord
Stäng
- This paper proposes an approach that combines motion planning and hybrid feedback control design in order to find and follow trajectories fulfilling a given complex mission involving time constraints. We use Metric Interval Temporal Logic (MITL) as a rich and rigorous formalism to specify such missions. The solution builds on three main steps: (i) using sampling-based motion planning methods and the untimed version of the mission specification in the form of Zone automaton, we find a sequence of waypoints in the workspace; (ii) based on the clock zones from the satisfying run on the Zone automaton, we compute time-stamps at which these waypoints should be reached; and (iii) to control the system to connect two waypoints in the desired time, we design a low-level feedback controller leveraging Time-varying Control Barrier Functions. Illustrative simulation results are included.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering (hsv//eng)
Publikations- och innehållstyp
- ref (ämneskategori)
- kon (ämneskategori)
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