Name
Title | ||
|---|---|---|
Maximizing Visibility in Nonconvex Polygons: Nonsmooth Analysis and Gradient Algorithm Design |
Abstract | ||
|---|---|---|
This paper presents a motion control algorithm for a planar mobile observer such as a mobile robot equipped with an omnidirectional camera. We propose a nonsmooth gradient algorithm for the problem of maximizing the area of the region visible to the observer in a non-self-intersecting nonconvex polygon. First, we show that the visible area is almost everywhere a locally Lipschitz function of the observer location. Second, we provide a novel version of the LaSalle invariance principle for discontinuous vector fields and Lyapunov functions with a finite number of discontinuities. Finally, we establish the asymptotic convergence properties of the nonsmooth gradient algorithm and illustrate numerically its performance. |
Year | DOI | Venue |
|---|---|---|
2006 | 10.1137/050621918 | Siam Journal on Control and Optimization |
Keywords | Field | DocType |
motion control,algorithm design,vector field,lyapunov function,art,computational geometry,mobile robots,robot kinematics,lyapunov functions,invariance principle,lipschitz function,algorithm design and analysis,invariance,mobile robot,motion planning | Lyapunov function,Polygon,Algorithm design,Vector field,Computer science,Control theory,Almost everywhere,Control engineering,Lipschitz continuity,Observer (quantum physics),Mobile robot | Journal |
Volume | Issue | ISSN |
45 | 5 | 0743-1619 |
Citations | PageRank | References |
13 | 1.27 | 4 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Anurag Ganguli | 1 | 154 | 15.72 |
| Jorge Cortes | 2 | 1452 | 128.75 |
| Francesco Bullo | 3 | 4989 | 415.53 |