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Optimal Switching Surfaces in Behavior-Based Robotics
Proceedings of the 45th IEEE Conference on Decision and Control
Year: 2006 | Conference Paper |
Cited by: Papers (1)
In this paper an optimal solution is presented for the problem of avoiding obstacles while progressing towards a goal for a single robot. In particular, the solution is obtained by allowing the robot to switch between a fixed number of behaviors and optimizing over what behaviors to use and when to switch between them. It is moreover shown that the structure of the switching law only depends on th...Show More
Trade-offs between precision and computation horizon in real-time optimal control of switched systems
2006 American Control Conference
Year: 2006 | Conference Paper |
In this paper the problem of real-time optimal control is considered. In particular, we will study dynamical systems that switch between different modes at controlled switching times. Ideally, one would want the switching controller to provide sufficiently good values for the switching times at every instant of time. However, due to the limited computational resources available in many real-time a...Show More
Transition-time optimization for switched-mode dynamical systems
This note considers the problem of determining optimal switching times at which mode transitions should occur in multimodal, hybrid systems. It derives a simple formula for the gradient of the cost functional with respect to the switching times, and uses it in a gradient-descent algorithm. Much of the analysis is carried out in the setting of optimization problems involving fixed switching-mode se...Show More
Algorithm for Switching-Time Optimization in Hybrid Dynamical Systems
Proceedings of the 2005 IEEE International Symposium on, Mediterrean Conference on Control and Automation Intelligent Control, 2005.
Year: 2005 | Conference Paper |
Cited by: Papers (12)
We consider the problem of minimizing a cost functional defined on the state trajectory of a switched-mode dynamical system with respect to the switching times. Following the derivation, in recent years, of various results concerning the gradient of the cost functional, we present a suitable algorithm, based on gradient projection, for computing local minima. Utilizing the problem's special struct...Show More
A Provably Convergent Algorithm for Transition-Time Optimization in Switched Systems
Proceedings of the 44th IEEE Conference on Decision and Control
Year: 2005 | Conference Paper |
Cited by: Papers (10)
This paper concerns a mode-sequencing and switching-time optimization problem defined on autonomous switched-mode hybrid dynamical systems. The design parameter consists of two elements: (i) the sequence of dynamic-response functions associated with the modes, and (ii) the duration of each mode. The sequencing element is a discrete parameter which may render the problem of computing the optimal sc...Show More
Reactive robot navigation using optimal timing control
Proceedings of the 2005, American Control Conference, 2005.
Year: 2005 | Conference Paper |
Cited by: Papers (4)
In this paper a solution is presented for the problem of avoiding obstacles while progressing towards a goal for a single robot. In particular, an optimal solution is obtained by allowing the robot to switch between a fixed number of behaviors and optimizing over what behaviors to use and when to switch between them. We moreover show that the structure of the switch law only depends on the distanc...Show More
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