Name
Title | ||
|---|---|---|
Parametrized Hyperplane Arrangements For Control Design With Collision Avoidance Constraints |
Abstract | ||
|---|---|---|
This paper concerns the problem of collision avoidance in a dynamical multi-obstacle environment. The design problem is commonly stated in the literature in terms of a receding-horizon constrained optimization problem over a non-convex domain. Preliminary results based on hyperplane arrangements lead to a mixed-integer formulation of the problem. This formalism is adequate for a static multiobstacle environment, but may be impractical in a dynamical context. Nevertheless, this shortcoming can be alleviated by considering an additional analysis step and by an appropriate proper choice of the representation of the environment in a time-varying framework. The present paper tackles this issue by using zonotopes and discussing their parametrization in a collision avoidance type of application. |
Year | DOI | Venue |
|---|---|---|
2019 | 10.1109/ICCA.2019.8899977 | 2019 IEEE 15TH INTERNATIONAL CONFERENCE ON CONTROL AND AUTOMATION (ICCA) |
Field | DocType | ISSN |
Obstacle,Parametrization,Control theory,Collision,Hyperplane,Engineering,Formalism (philosophy),Constrained optimization problem | Conference | 1948-3449 |
Citations | PageRank | References |
0 | 0.34 | 0 |
Authors | ||
5 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Daniel Ioan | 1 | 0 | 0.34 |
| Sorin Olaru | 2 | 267 | 47.10 |
| Ionela Prodan | 3 | 26 | 10.02 |
| Florin Stoican | 4 | 95 | 15.86 |
| Silviu-Iulian Niculescu | 5 | 0 | 0.68 |