Name
Abstract | ||
|---|---|---|
A constant-rate multi-mode system is a hybrid system that can switch freely among a finite set of modes, and whose dynamics is specified by a finite number of real-valued variables with mode-dependent constant rates. Alur, Wojtczak, and Trivedi have shown that reachability problems for constant-rate multi-mode systems for open and convex safety sets can be solved in polynomial time. In this paper we study the reachability problem for non-convex state spaces, and show that this problem is in general undecidable. We recover decidability by making certain assumptions about the safety set. We present a new algorithm to solve this problem and compare its performance with the popular sampling based algorithm rapidly-exploring random tree (RRT) as implemented in the Open Motion Planning Library (OMPL). |
Year | Venue | DocType |
|---|---|---|
2017 | ATVA | Conference |
Volume | Citations | PageRank |
abs/1707.04151 | 1 | 0.34 |
References | Authors | |
13 | 5 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Shankara Narayanan Krishna | 1 | 243 | 42.57 |
| Aviral Kumar | 2 | 3 | 8.47 |
| Fabio Somenzi | 3 | 3394 | 302.47 |
| Behrouz Touri | 4 | 176 | 21.12 |
| Ashutosh Trivedi | 5 | 149 | 28.08 |