1. Ktisis Cyprus University of Technology
  2. Cyprus University of Technology (Research Output)
  3. Δημοσιεύσεις σε συνέδρια /Conference papers or poster or presentation
Please use this identifier to cite or link to this item: https://hdl.handle.net/20.500.14279/23049
DC FieldValueLanguage
dc.contributor.authorConstantinou, Nicolas-
dc.contributor.authorLoizou, Savvas-
dc.date.accessioned2021-09-15T10:14:27Z-
dc.date.available2021-09-15T10:14:27Z-
dc.date.issued2020-12-
dc.identifier.citation59th IEEE Conference on Decision and Control, 2020, 14-18 December, Virtual, Jeju Islanden_US
dc.identifier.isbn9781728174471-
dc.identifier.urihttps://hdl.handle.net/20.500.14279/23049-
dc.description.abstractThis work presents a single-step diffeomorphic transformation from a known star world to a trivial domain called the point world, where the navigation task is reduced to connecting the images of the initial and destination configurations by a straight line. Obstacle potential functions - derived using Zenkin's formulas - are used to define a transformation activation region around each obstacle. Configurations in this region are radially mapped with respect to the center of the corresponding obstacle. The proposed transformation guarantees almost global navigation. The provided theoretical results are backed by analytical proofs, while the effectiveness of the method is demonstrated by a series of simulation studies.en_US
dc.formatpdfen_US
dc.language.isoenen_US
dc.rights© IEEEen_US
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/*
dc.subjectFeedback-based navigationen_US
dc.subjectImplicit obstacle representationen_US
dc.subjectNavigation Transformationen_US
dc.titleRobot navigation on star worlds using a single-step Navigation Transformationen_US
dc.typeConference Papersen_US
dc.collaborationCyprus University of Technologyen_US
dc.subject.categoryElectrical Engineering - Electronic Engineering - Information Engineeringen_US
dc.countryCyprusen_US
dc.subject.fieldEngineering and Technologyen_US
dc.publicationPeer Revieweden_US
dc.relation.conferenceIEEE Conference on Decision and Controlen_US
dc.identifier.doi10.1109/CDC42340.2020.9303745en_US
dc.identifier.scopus2-s2.0-85099882195-
dc.identifier.urlhttps://api.elsevier.com/content/abstract/scopus_id/85099882195-
cut.common.academicyear2020-2021en_US
item.grantfulltextnone-
item.openairecristypehttp://purl.org/coar/resource_type/c_c94f-
item.fulltextNo Fulltext-
item.languageiso639-1en-
item.cerifentitytypePublications-
item.openairetypeconferenceObject-
crisitem.author.deptDepartment of Mechanical Engineering and Materials Science and Engineering-
crisitem.author.facultyFaculty of Engineering and Technology-
crisitem.author.orcid0000-0003-4083-9946-
crisitem.author.parentorgFaculty of Engineering and Technology-
Appears in Collections:Δημοσιεύσεις σε συνέδρια /Conference papers or poster or presentation
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