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• W2024802078 abstract "This paper presents LQG-Obstacles, a new concept that combines linear-quadratic feedback control of mobile robots with guaranteed avoidance of collisions with obstacles. Our approach generalizes the concept of Velocity Obstacles [3] to any robotic system with a linear Gaussian dynamics model. We integrate a Kalman filter for state estimation and an LQR feedback controller into a closed-loop dynamics model of which a higher-level control objective is the “control input”. We then define the LQG-Obstacle as the set of control objectives that result in a collision with high probability. Selecting a control objective outside the LQG-Obstacle then produces collision-free motion. We demonstrate the potential of LQG-Obstacles by safely and smoothly navigating a simulated quadrotor helicopter with complex non-linear dynamics and motion and sensing uncertainty through three-dimensional environments with obstacles and narrow passages." @default.
• W2024802078 created "2016-06-24" @default.
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• W2024802078 date "2012-05-01" @default.
• W2024802078 modified "2023-10-01" @default.
• W2024802078 title "LQG-obstacles: Feedback control with collision avoidance for mobile robots with motion and sensing uncertainty" @default.
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• W2024802078 doi "https://doi.org/10.1109/icra.2012.6224648" @default.
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