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https://hdl.handle.net/20.500.14279/13672| Title: | Avoiding sets of measure-zero in navigation transformation based controllers | Authors: | Loizou, Savvas | Major Field of Science: | Natural Sciences | Field Category: | Computer and Information Sciences | Keywords: | Navigation transformation;Time abstraction | Issue Date: | Jun-2018 | Source: | 27th International Conference on Robotics in Alpe-Adria-Danube Region, 6–8 June, Patras, Greece | Conference: | 27th International Conference on Robotics in Alpe-Adria-Danube Region | Abstract: | The Navigation Transformation proposed in [Loizou (2017)] provides a novel solution to the motion and path planning problems, while enabling temporal stabilization up to a set of measure-zero of initial conditions. Since sets of measure zero are explicitly defined for a given workspace, this work proposes an additional control action that steers the system trajectories away from such sets. The provided theoretical results are backed with experimental studies. | URI: | https://hdl.handle.net/20.500.14279/13672 | DOI: | 10.1007/978-3-030-00232-9_54 | Rights: | © Springer Nature Switzerland AG 2019. | Type: | Conference Papers | Affiliation : | Cyprus University of Technology | Publication Type: | Peer Reviewed |
| Appears in Collections: | Δημοσιεύσεις σε συνέδρια /Conference papers or poster or presentation |
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