Παρακαλώ χρησιμοποιήστε αυτό το αναγνωριστικό για να παραπέμψετε ή να δημιουργήσετε σύνδεσμο προς αυτό το τεκμήριο:
https://hdl.handle.net/20.500.14279/2429
Τίτλος: | Mixed initiative control of autonomous vehicles | Συγγραφείς: | Kumar, Vijay R. Loizou, Savvas |
metadata.dc.contributor.other: | Λοΐζου, Σάββας | Λέξεις-κλειδιά: | Computer simulation;Navigation;Vehicles | Ημερομηνία Έκδοσης: | 2007 | Πηγή: | IEEE International Conference on Robotics and Automation, 2007, Rome, Italy | Περίληψη: | 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. | URI: | https://hdl.handle.net/20.500.14279/2429 | ISSN: | 10504729 | DOI: | 10.1109/ROBOT.2007.363185 | Rights: | ©2007 IEEE | Type: | Conference Papers | Affiliation: | University of Pennsylvania |
Εμφανίζεται στις συλλογές: | Δημοσιεύσεις σε συνέδρια /Conference papers or poster or presentation |
CORE Recommender
SCOPUSTM
Citations
50
22
checked on 9 Νοε 2023
Page view(s) 50
570
Last Week
0
0
Last month
27
27
checked on 13 Μαρ 2025
Google ScholarTM
Check
Altmetric
Όλα τα τεκμήρια του δικτυακού τόπου προστατεύονται από πνευματικά δικαιώματα