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Integrated motion p...
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Barbosa, Fernando S.KTH,Robotik, perception och lärande, RPL
(författare)
Integrated motion planning and control under metric interval temporal logic specifications
- Artikel/kapitelEngelska2019
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Institute of Electrical and Electronics Engineers (IEEE),2019
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Nummerbeteckningar
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LIBRIS-ID:oai:DiVA.org:kth-262641
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https://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-262641URI
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https://doi.org/10.23919/ECC.2019.8795925DOI
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Språk:engelska
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Sammanfattning på:engelska
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Ämneskategori:ref swepub-contenttype
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Ämneskategori:kon swepub-publicationtype
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QC 20191017
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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.
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Biuppslag (personer, institutioner, konferenser, titlar ...)
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Lindemann, LarsKTH,Reglerteknik,Decision and Control Systems(Swepub:kth)u1gj4gpp
(författare)
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Dimarogonas, Dimos V.KTH,Reglerteknik,Decision and Control Systems(Swepub:kth)u1zrhfkn
(författare)
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Tumova, JanaKTH,Robotik, perception och lärande, RPL(Swepub:kth)u19qofjk
(författare)
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KTHRobotik, perception och lärande, RPL
(creator_code:org_t)
Sammanhörande titlar
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Ingår i:2019 18th European Control Conference, ECC 2019: Institute of Electrical and Electronics Engineers (IEEE), s. 2042-20499783907144008
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