FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W3186308521> ?p ?o ?g. }

• W3186308521 abstract "We propose a novel approach for navigating in polygonal environments by synthesizing controllers that take as input relative displacement measurements with respect to a set of landmarks. Our algorithm is based on solving a sequence of robust min-max Linear Programming problems on the elements of a cell decomposition of the environment. The optimization problems are formulated using linear Control Lyapunov Function (CLF) and Control Barrier Function (CBF) constraints, to provide stability and safety guarantees, respectively. The inner maximization problem ensures that these constraints are met by all the points in each cell, while the outer minimization problem balances the different constraints in a robust way. We show that the min-max optimization problems can be solved efficiently by transforming it into regular linear programming via the dualization of the inner maximization problem. We test our algorithm to agents with first and second order integrator dynamics, although our approach is in principle applicable to any system with piecewise linear dynamics. Through our theoretical results and simulations, we show that the resulting controllers: are optimal (with respect to the criterion used in the formulation), are applicable to linear systems of any order, are robust to changes to the start location (since they do not rely on a single nominal path), and to significant deformations of the environment." @default.
• W3186308521 created "2021-08-02" @default.
• W3186308521 creator A5031884953 @default.
• W3186308521 creator A5042146883 @default.
• W3186308521 creator A5058074218 @default.
• W3186308521 date "2021-05-25" @default.
• W3186308521 modified "2023-09-25" @default.
• W3186308521 title "Robust Path Planning and Control For Polygonal Environments via Linear Programming" @default.
• W3186308521 cites W1424654272 @default.
• W3186308521 cites W1891170951 @default.
• W3186308521 cites W1957861458 @default.
• W3186308521 cites W1971086298 @default.
• W3186308521 cites W1980569135 @default.
• W3186308521 cites W2000359213 @default.
• W3186308521 cites W2104332709 @default.
• W3186308521 cites W2110144538 @default.
• W3186308521 cites W2116647221 @default.
• W3186308521 cites W2128990851 @default.
• W3186308521 cites W2156229411 @default.
• W3186308521 cites W2156969101 @default.
• W3186308521 cites W2165744968 @default.
• W3186308521 cites W2166691751 @default.
• W3186308521 cites W2171879251 @default.
• W3186308521 cites W2296356821 @default.
• W3186308521 cites W2317926736 @default.
• W3186308521 cites W2326206646 @default.
• W3186308521 cites W2489231587 @default.
• W3186308521 cites W2727854388 @default.
• W3186308521 cites W2749680651 @default.
• W3186308521 cites W2764291795 @default.
• W3186308521 cites W2770250394 @default.
• W3186308521 cites W2973005513 @default.
• W3186308521 cites W4251616545 @default.
• W3186308521 cites W4292249799 @default.
• W3186308521 doi "https://doi.org/10.23919/acc50511.2021.9483196" @default.
• W3186308521 hasPublicationYear "2021" @default.
• W3186308521 type Work @default.
• W3186308521 sameAs 3186308521 @default.
• W3186308521 citedByCount "5" @default.
• W3186308521 countsByYear W31863085212020 @default.
• W3186308521 countsByYear W31863085212021 @default.
• W3186308521 countsByYear W31863085212022 @default.
• W3186308521 countsByYear W31863085212023 @default.
• W3186308521 crossrefType "proceedings-article" @default.
• W3186308521 hasAuthorship W3186308521A5031884953 @default.
• W3186308521 hasAuthorship W3186308521A5042146883 @default.
• W3186308521 hasAuthorship W3186308521A5058074218 @default.
• W3186308521 hasConcept C119599485 @default.
• W3186308521 hasConcept C121332964 @default.
• W3186308521 hasConcept C126255220 @default.
• W3186308521 hasConcept C127413603 @default.
• W3186308521 hasConcept C134306372 @default.
• W3186308521 hasConcept C137836250 @default.
• W3186308521 hasConcept C147764199 @default.
• W3186308521 hasConcept C154945302 @default.
• W3186308521 hasConcept C158622935 @default.
• W3186308521 hasConcept C17095337 @default.
• W3186308521 hasConcept C17500928 @default.
• W3186308521 hasConcept C199360897 @default.
• W3186308521 hasConcept C2524010 @default.
• W3186308521 hasConcept C2775924081 @default.
• W3186308521 hasConcept C2776330181 @default.
• W3186308521 hasConcept C2777735758 @default.
• W3186308521 hasConcept C31531917 @default.
• W3186308521 hasConcept C33923547 @default.
• W3186308521 hasConcept C41008148 @default.
• W3186308521 hasConcept C41045048 @default.
• W3186308521 hasConcept C47446073 @default.
• W3186308521 hasConcept C60640748 @default.
• W3186308521 hasConcept C62520636 @default.
• W3186308521 hasConcept C6802819 @default.
• W3186308521 hasConcept C91575142 @default.
• W3186308521 hasConceptScore W3186308521C119599485 @default.
• W3186308521 hasConceptScore W3186308521C121332964 @default.
• W3186308521 hasConceptScore W3186308521C126255220 @default.
• W3186308521 hasConceptScore W3186308521C127413603 @default.
• W3186308521 hasConceptScore W3186308521C134306372 @default.
• W3186308521 hasConceptScore W3186308521C137836250 @default.
• W3186308521 hasConceptScore W3186308521C147764199 @default.
• W3186308521 hasConceptScore W3186308521C154945302 @default.
• W3186308521 hasConceptScore W3186308521C158622935 @default.
• W3186308521 hasConceptScore W3186308521C17095337 @default.
• W3186308521 hasConceptScore W3186308521C17500928 @default.
• W3186308521 hasConceptScore W3186308521C199360897 @default.
• W3186308521 hasConceptScore W3186308521C2524010 @default.
• W3186308521 hasConceptScore W3186308521C2775924081 @default.
• W3186308521 hasConceptScore W3186308521C2776330181 @default.
• W3186308521 hasConceptScore W3186308521C2777735758 @default.
• W3186308521 hasConceptScore W3186308521C31531917 @default.
• W3186308521 hasConceptScore W3186308521C33923547 @default.
• W3186308521 hasConceptScore W3186308521C41008148 @default.
• W3186308521 hasConceptScore W3186308521C41045048 @default.
• W3186308521 hasConceptScore W3186308521C47446073 @default.
• W3186308521 hasConceptScore W3186308521C60640748 @default.
• W3186308521 hasConceptScore W3186308521C62520636 @default.
• W3186308521 hasConceptScore W3186308521C6802819 @default.
• W3186308521 hasConceptScore W3186308521C91575142 @default.
• W3186308521 hasLocation W31863085211 @default.
• W3186308521 hasOpenAccess W3186308521 @default.
• W3186308521 hasPrimaryLocation W31863085211 @default.

• next