Robust Sequential Trajectory Planning Under Disturbances and Adversarial Intruder
نویسندگان
چکیده
منابع مشابه
Robust Sequential Path Planning Under Disturbances and Adversarial Intruder
Provably safe and scalable multi-vehicle path planning is an important and urgent problem due to the expected increase of automation in civilian airspace in the near future. Although this problem has been studied in the past, there has not been a method that guarantees both goal satisfaction and safety for vehicles with general nonlinear dynamics while taking into account disturbances and poten...
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Provably safe and scalable multi-vehicle trajectory planning is an important and urgent problem. Hamilton-Jacobi (HJ) reachability is an ideal tool for analyzing such safetycritical systems and has been successfully applied to several smallscale problems. However, a direct application of HJ reachability to multi-vehicle trajectory planning is often intractable due to the “curse of dimensionalit...
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Many critical robotics applications require robustness to disturbances arising from unplanned forces, state uncertainty, and model errors. Motion planning algorithms that explicitly reason about robustness require a coupling of trajectory optimization and feedback design, where the system’s closedloop response to bounded disturbances is optimized. Due to the often-heavy computational demands of...
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ژورنال
عنوان ژورنال: IEEE Transactions on Control Systems Technology
سال: 2019
ISSN: 1063-6536,1558-0865,2374-0159
DOI: 10.1109/tcst.2018.2828380