Avoiding sets of measure-zero in navigation transformation based controllers

Please use this identifier to cite or link to this item: 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
Appears in Collections:	Δημοσιεύσεις σε συνέδρια /Conference papers or poster or presentation

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