We present two new motion planning algorithms, based on the Rapidly Exploring Random Tree (RRT) family of algorithms. These algorithms represent the first work in the direction of derandomizing RRTs;this is a very cha...
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ISBN:
(纸本)184628404X
We present two new motion planning algorithms, based on the Rapidly Exploring Random Tree (RRT) family of algorithms. These algorithms represent the first work in the direction of derandomizing RRTs;this is a very challenging problem due to the way randomization is used in RRTs. In RRTs, randomization is used to create Voronoi bias, which causes the search trees to rapidly explore the state space. Our algorithms take steps to increase the Voronoi bias and to retain this property without the use of randomization. Studying these and related algorithms will improve our understanding of how efficient exploration can be accomplished, and will hopefully lead to improved planners. We give experimental results that illustrate how the new algorithms explore the state space and how they compare with existing RRT algorithms.
In this paper we consider a widely studied problem in the robotics and control communities, called consensus problem. The aim of the paper is to characterize the relationship between the amount of information exchange...
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ISBN:
(纸本)3540327940
In this paper we consider a widely studied problem in the robotics and control communities, called consensus problem. The aim of the paper is to characterize the relationship between the amount of information exchanged by the vehicles and the speed of convergence to the consensus. Time-invariant communication graphs that exhibit particular symmetries are shown to yield slow convergence if the amount of information exchanged does not scale with the number of vehicles. On the other hand, we show that retaining symmetries in time-varying communication networks allows to increase the speed of convergence even in the presence of limited information exchange.
We propose a numerical procedure to design a linear output-feedback controller for a remote linear plant in which the loop is closed through a network. The controller stabilizes the plant in the presence of delays, sa...
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ISBN:
(纸本)3540327940
We propose a numerical procedure to design a linear output-feedback controller for a remote linear plant in which the loop is closed through a network. The controller stabilizes the plant in the presence of delays, sampling, and packet dropouts in the (sensor) measurement and actuation channels. We consider two types of control units: anticipative and non-anticipative. In both cases the closed-loop system with delays, sampling, and packet dropouts can be modeled as delay differential equations. Our method of designing the controller parameters is based on the Lyapunov-Krasovskii theorem and a linear cone complementarity algorithm. Numerical examples show that the proposed design method is significantly better than the existing ones.
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