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Title: Mixed initiative control of autonomous vehicles
Authors: Kumar, Vijay R.
Loizou, Savvas 
Keywords: Computer simulation;Navigation;Vehicles
Issue Date: 2007
Publisher: IEEE
Source: IEEE International Conference on Robotics and Automation, 2007, Rome, Italy
Abstract: While there is extensive work on motion planning and control for navigation tasks with guarantees, there is no systematic way for human operators to modify the resulting plans without losing the guarantees. In this paper we propose a systematic way of composing behaviors resulting from human inputs with behaviors derived from navigation functions. The proposed controller is based on a new class of navigation function based controllers that posses weak Input-to-State stability properties. The resulting system has analytically guaranteed safety and convergence properties. The feasibility of the proposed methodology is demonstrated through simulation examples and hardware experiments.
ISSN: 10504729
DOI: 10.1109/ROBOT.2007.363185
Rights: ©2007 IEEE
Type: Conference Papers
Appears in Collections:Δημοσιεύσεις σε συνέδρια/Conference papers

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