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Optimal navigation for vehicles with stochastic dynamics
This brief presents a framework for input-optimal navigation under state constraints for
vehicles exhibiting stochastic behavior. The resulting stochastic control law is …
vehicles exhibiting stochastic behavior. The resulting stochastic control law is …
Dynamics-compatible potential fields using stochastic perturbations
This paper suggests a method for numerically constructing almost globally converging
artificial potential fields for motion planning, in a way that ensures that the resulting gradient …
artificial potential fields for motion planning, in a way that ensures that the resulting gradient …
Case study for stochastic systems: from pontryagin to receding horizon optimal control
M Toyoda, T Shen, Y Mutoh… - Proceedings of the 33rd …, 2014 - ieeexplore.ieee.org
The aim of this paper is to explore the implementation of receding horizon optimal control
based on the Pontryagin's maximum principle for the dynamical systems represented by …
based on the Pontryagin's maximum principle for the dynamical systems represented by …