Flow-Through Policies for Hybrid Controller Synthesis Applied to Fully Actuated Systems

Conner, David C.; Choset, Howie

doi:10.1109/tro.2008.2008738

Cited by 36 publications

(37 citation statements)

References 23 publications

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“…5 The result is stated and proven in a way that aligns with the broader developments of this section.…”

Section: A Process Instance Executing Stagesupporting

confidence: 64%

“…Hence, R and R ∞ are not nodes of G . On the other hand, G must contain the node corresponding to resource R * , since otherwise, it would also be present in F (σ) (we remind the reader that the only resources that have their allocation 5 We emphasize that this equivalence between state safety and the absence of partial deadlock does not hold true, in general. Examples of deadlock-free and yet unsafe RAS states in the context of the considered application are provided in [20].…”

Section: A Process Instance Executing Stagementioning

confidence: 99%

“…Some indicative examples of such lines of work are those presented in [2,5], while a more comprehensive exposition of the state-of-art of hybrid-system-based methods for the design, formal verification and the control of many contemporary applications, including vehicular systems similar to those considered in this work, can be found in [1].…”

Section: Introductionmentioning

confidence: 99%

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A distributed protocol for motion coordination in free-range vehicular systems

Roszkowska

Reveliotis

2013

Automatica

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This work extends our research on motion coordination of free-range vehicular systems based on concepts and results borrowed from resource allocation systems (RAS) theory, to vehicular systems with limited communication range among the vehicles. Similar to the earlier work, the employed model assumes the tessellation of the motion plane into cells, which are allocated to the traveling vehicles in a controlled manner that ensures collision-free and live motion. On the other hand, the limited communication range of the vehicles implies that full synchronization of their access to the considered cells is not possible any more, and yields new challenges for the deployed supervisory control policies.To enable the development of supervisory policies capable of providing the necessary partial synchronization of the cell allocation, we modify the structure of the adopted tessellation by allowing the concurrent occupation of a cell by up to two vehicles at a time, instead of only one, that was assumed earlier. This modification renders polynomially computable the relevant maximally permissive cell allocation policy, and it enables the implementation of this policy in the form of a distributed protocol that is feasible in the context of the communication constraints that are considered in this work.

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“…5 The result is stated and proven in a way that aligns with the broader developments of this section.…”

Section: A Process Instance Executing Stagesupporting

confidence: 64%

Section: A Process Instance Executing Stagementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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A distributed protocol for motion coordination in free-range vehicular systems

Roszkowska

Reveliotis

2013

Automatica

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“…Since convex sets can be homeomorphically mapped to Euclidean balls with certain degrees of smoothness, for instance, see [32], for the sake of simplicity, we consider navigation in a closed Euclidean ball W = B (p W , r W ), centered at p W ∈ R n with radius r W > r, toward a given goal location x * ∈F in the interiorF of the free space F of our disk-shaped robot, centered at x ∈ F and of radius r > 0, by using the negated gradient of the following well established artificial potential functions…”

Section: A Navigation In a Convex Workpacementioning

confidence: 99%

Smooth extensions of feedback motion planners via reference governors

Arslan

Koditschek

2017

2017 IEEE International Conference on Robotics and Automation (ICRA)

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In robotics, it is often practically and theoretically convenient to design motion planners for approximate loworder (e.g., position-or velocity-controlled) robot models first, and then adapt such reference planners to more accurate high-order (e.g., force/torque-controlled) robot models. In this paper, we introduce a novel provably correct approach to extend the applicability of low-order feedback motion planners to high-order robot models, while retaining stability and collision avoidance properties, as well as enforcing additional constraints that are specific to the high-order models. Our smooth extension framework leverages the idea of reference governors to separate the issues of stability and constraint satisfaction, affording a bidirectionally coupled robot-governor system where the robot ensures stability with respect to the governor and the governor enforces state (e.g., collision avoidance) and control (e.g., actuator limits) constraints. We demonstrate example applications of our framework for augmenting path planners and vector field planners to the second-order robot dynamics.Keywords smooth extensions; command governors; reference governors; collision avoidance;robot dynamics;stability;collision avoidance;constraint satisfaction;feedback motion planners;path planners;reference governors;robot models;robot-governor system;robotics;second-order robot dynamics;smooth extensions;stability;vector field planners;Asymptotic stability;Collision avoidance;Computational modeling;Dynamics;Navigation;Robots;Stability analysis Disciplines Computer Engineering | Controls and Control Theory | Electrical and Computer Engineering | Engineering | RoboticsThis conference paper is available at ScholarlyCommons: http://repository.upenn.edu/ese_papers/790 Smooth Extensions of Feedback Motion Planners via Reference GovernorsOmur Arslan and Daniel E. KoditschekAbstract-In robotics, it is often practically and theoretically convenient to design motion planners for approximate loworder (e.g., position-or velocity-controlled) robot models first, and then adapt such reference planners to more accurate highorder (e.g., force/torque-controlled) robot models. In this paper, we introduce a novel provably correct approach to extend the applicability of low-order feedback motion planners to high-order robot models, while retaining stability and collision avoidance properties, as well as enforcing additional constraints that are specific to the high-order models. Our smooth extension framework leverages the idea of reference governors to separate the issues of stability and constraint satisfaction, affording a bidirectionally coupled robot-governor system where the robot ensures stability with respect to the governor and the governor enforces state (e.g., collision avoidance) and control (e.g., actuator limits) constraints. We demonstrate example applications of our framework for augmenting path planners and vector field planners to the second-order robot dynamics.

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“…In this paper, we introduce a new construction for such feedback planners using tools from computational geometry and convex optimization that have been more traditionally associated with roadmap-style approaches. In so doing, our construction raises the possibility of a "doubly reactive," scheme mixing some of the advantages of sensorbased exploration [3] with those of hybrid real-time control [4] in that not merely the integrated robot trajectory, but also its generating vector field can be constructed on the fly in real time.…”

Section: Introductionmentioning

confidence: 99%

Exact robot navigation using power diagrams

Arslan

Koditschek

2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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We reconsider the problem of reactive navigation in sphere worlds, i.e., the construction of a vector field over a compact, convex Euclidean subset punctured by Euclidean disks, whose flow brings a Euclidean disk robot from all but a zero measure set of initial conditions to a designated point destination, with the guarantee of no collisions along the way. We use power diagrams, generalized Voronoi diagrams with additive weights, to identify the robot's collision free convex neighborhood, and to generate the value of our proposed candidate solution vector field at any free configuration via evaluation of an associated convex optimization problem. We prove that this scheme generates a continuous flow with the specified properties. We also propose its practical extension to the nonholonomically constrained kinematics of the standard differential drive vehicle. Exact Robot Navigation Using Power DiagramsOmur Arslan and Daniel E. Koditschek Abstract-We reconsider the problem of reactive navigation in sphere worlds, i.e., the construction of a vector field over a compact, convex Euclidean subset punctured by Euclidean disks, whose flow brings a Euclidean disk robot from all but a zero measure set of initial conditions to a designated point destination, with the guarantee of no collisions along the way. We use power diagrams, generalized Voronoi diagrams with additive weights, to identify the robot's collision free convex neighborhood, and to generate the value of our proposed candidate solution vector field at any free configuration via evaluation of an associated convex optimization problem. We prove that this scheme generates a continuous flow with the specified properties. We also propose its practical extension to the nonholonomically constrained kinematics of the standard differential drive vehicle.

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Flow-Through Policies for Hybrid Controller Synthesis Applied to Fully Actuated Systems

Cited by 36 publications

References 23 publications

A distributed protocol for motion coordination in free-range vehicular systems

A distributed protocol for motion coordination in free-range vehicular systems

Smooth extensions of feedback motion planners via reference governors

Exact robot navigation using power diagrams

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