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Bounded-Rate Multi-Mode Systems Based Motion Planning [article]

Devendra Bhave, Sagar Jha, Shankara Narayanan Krishna, Sven Schewe, Ashutosh Trivedi
2014 arXiv   pre-print
Bounded-rate multi-mode systems are hybrid systems that can switch among a finite set of modes.  ...  Given an arbitrary piecewise linear trajectory, we study the problem of following the trajectory with arbitrary precision, using motion primitives given as bounded-rate multi-mode systems.  ...  modeled as bounded-rate multi-mode systems.  ... 
arXiv:1412.3670v1 fatcat:kzryrlskqzdgloxk4q5bl5z7eu

Multi-controller multi-objective locomotion planning for legged robots

Martim Brandao, Maurice Fallon, Ioannis Havoutis
2019 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
We empirically analyze the behavior of the method in terms of planning success rates, Pareto-optimality and anytime behavior in cost space.  ...  We propose a parameter-free method that plans in the space of body motion and controller choice, using utopian and lexicographic cost aggregation functions.  ...  In the manner of [11] , we first plan a path over robot base motion and mode, followed by execution and sub-planning where appropriate.  ... 
doi:10.1109/iros40897.2019.8967926 dblp:conf/iros/BrandaoFH19 fatcat:y4ec2xrvpvaa5aotiwd5iq3cce

Randomized multi-modal motion planning for a humanoid robot manipulation task

Kris Hauser, Victor Ng-Thow-Hing
2010 The international journal of robotics research  
In this paper we address multi-modal motion planning in the common setting where state is high-dimensional, and there are a continuous infinity of modes.  ...  This requires reasoning in a motion space with a particular multi-modal structure, in which the state contains both a discrete mode (the contact state) and a continuous configuration (the robot and object  ...  Related Work Many hybrid dynamical systems, such as systems with contact, have multi-modal motion spaces.  ... 
doi:10.1177/0278364910386985 fatcat:jbvc24biuzb7vnkgmeo7mq3qu4

Almost-Sure Reachability in Stochastic Multi-Mode System [article]

Fabio Somenzi and Behrouz Touri and Ashutosh Trivedi
2016 arXiv   pre-print
A constant-rate multi-mode system is a hybrid system that can switch freely among a finite set of modes, and whose dynamics is specified by a finite number of real-valued variables with mode-dependent  ...  We introduce and study a stochastic extension of a constant-rate multi-mode system where the dynamics is specified by mode-dependent compactly supported probability distributions over a set of constant  ...  [5] introduced bounded-rate multi-mode systems where the rate in each mode is a constant that is picked from a given bounded set.  ... 
arXiv:1610.05412v1 fatcat:sct4avz47zajjdml3mbwm6jyyq

The Reach-Avoid Problem for Constant-Rate Multi-mode Systems [chapter]

Shankara Narayanan Krishna, Aviral Kumar, Fabio Somenzi, Behrouz Touri, Ashutosh Trivedi
2017 Lecture Notes in Computer Science  
A constant-rate multi-mode system is a hybrid system that can switch freely among a finite set of modes, and whose dynamics is specified by a finite number of real-valued variables with mode-dependent  ...  Alur, Wojtczak, and Trivedi have shown that reachability problems for constant-rate multi-mode systems for open and convex safety sets can be solved in polynomial time.  ...  We study this motion planning problem in a simpler setting of systems modeled as constant-rate multi-mode systems [4]-a switched system with constantrate dynamics (vector) in every mode-and study the reachability  ... 
doi:10.1007/978-3-319-68167-2_30 fatcat:dkfflpxlfzhw5jzz6y2bnpcdde

The Reach-Avoid Problem for Constant-Rate Multi-Mode Systems [article]

Shankara Narayanan Krishna and Aviral Kumar and Fabio Somenzi and Behrouz Touri and Ashutosh Trivedi
2017 arXiv   pre-print
A constant-rate multi-mode system is a hybrid system that can switch freely among a finite set of modes, and whose dynamics is specified by a finite number of real-valued variables with mode-dependent  ...  Alur, Wojtczak, and Trivedi have shown that reachability problems for constant-rate multi-mode systems for open and convex safety sets can be solved in polynomial time.  ...  We study this motion planning problem in a simpler setting of systems modeled as constant-rate multi-mode systems [4]-a switched system with constantrate dynamics (vector) in every mode-and study the reachability  ... 
arXiv:1707.04151v1 fatcat:qdmoa7zjtjcodnmxrqqs4azh7u

Temporal Logic Imitation: Learning Plan-Satisficing Motion Policies from Demonstrations [article]

Yanwei Wang, Nadia Figueroa, Shen Li, Ankit Shah, Julie Shah
2022 arXiv   pre-print
By utilizing modes (rather than subgoals) as the discrete abstraction and motion policies with both mode invariance and goal reachability properties, we prove our learned continuous policy can simulate  ...  any discrete plan specified by a Linear Temporal Logic (LTL) formula.  ...  RELATED WORKS Temporal Logic Motion Planning LTL is a task specification language widely used in robot motion planning [5, 49, 40, 27] .  ... 
arXiv:2206.04632v1 fatcat:ljqqdujpqjbtlmka6l4no2a67e

Multi-Modal Motion Planning Using Composite Pose Graph Optimization [article]

L. Lao Beyer, N. Balabanska, E. Tal, S. Karaman
2021 arXiv   pre-print
In this paper, we present a motion planning framework for multi-modal vehicle dynamics.  ...  The resulting motion planning algorithm optimizes the multi-modal trajectory, including the location of mode transitions, and is guided by the pose graph optimization process to eliminate unnecessary transitions  ...  Firstly, we present an efficient minimum-time motion planning algorithm for systems with multi-modal dynamics.  ... 
arXiv:2107.02384v1 fatcat:ci3byfy74naxflzzhv2qikhqn4

A target-approachable force-guided control with adaptive accommodation for complex assembly

Sungchul Kang, Munsang Kim, Chong-won Lee, Kyo-Il Lee
1999 KSME International Journal  
Finally, a VME-bus based real-time control system is built to experiment various CA tasks.  ...  Incorporated with an admissible perturbation method, a new CA algorithm using only the sensed resultant wrench and the target twist is developed without motion planning nor contact analysis which requires  ...  Therefore, due to their computational complexity in generating a multi-dimensional motion plan, the conventional compliant motion planning approaches based on various existing compliant control schemes  ... 
doi:10.1007/bf03184756 fatcat:ynadooysxbd2bgcs7hjphfp54q

NEMO: Future Object Localization Using Noisy Ego Priors [article]

Srikanth Malla and Isht Dwivedi and Behzad Dariush and Chiho Choi
2020 arXiv   pre-print
We first model the multi-modal distribution of future ego-motion with uncertainty estimates. The resulting distribution of ego-behavior is used to sample multiple modes of future ego-motion.  ...  We predict the multi-modal future locations of the target from individual modes of the ego-vehicle while modeling the uncertainty of the target's behavior.  ...  In the future, we plan to extend our work to rank each of the predicted modes based on the uncertainty measure, which will result in making the system more pragmatic for real world applications.  ... 
arXiv:1909.08150v3 fatcat:3n7bx7si2zdwva4ri24fye6f4q

Fly-by-Logic: Control of Multi-Drone Fleets with Temporal Logic Objectives

Yash Vardhan Pant, Houssam Abbas, Rhudii A. Quaye, Rahul Mangharam
2018 2018 ACM/IEEE 9th International Conference on Cyber-Physical Systems (ICCPS)  
The problem of safe planning and control for multi-drone systems across a variety of missions is of critical impor-tance, as the scope of tasks assigned to such systems increases.  ...  Abstract-The problem of safe planning and control for multidrone systems across a variety of missions is of critical importance, as the scope of tasks assigned to such systems increases.  ...  The safe planning and control of multi-agent systems for missions like these is becoming an area of utmost importance.  ... 
doi:10.1109/iccps.2018.00026 dblp:conf/iccps/PantAQM18 fatcat:eaihkdyv75audem5jzsovljm4e

Reactive Task and Motion Planning for Robust Whole-Body Dynamic Locomotion in Constrained Environments [article]

Ye Zhao and Yinan Li and Luis Sentis and Ufuk Topcu and Jun Liu
2022 arXiv   pre-print
Contact-based decision and planning methods are becoming increasingly important to endow higher levels of autonomy for legged robots.  ...  We formally prove the correctness of the layered locomotion framework guaranteeing a robust implementation by the motion planning layer.  ...  In particular, task and motion planning for bipedal or multi-limb robots requires to reason about contact-based dynamics which do not present in mobile robots.  ... 
arXiv:1811.04333v2 fatcat:nop5zlwfbjcffcnmfhb3okgfpe

Adaptive Sliding Mode Controller Design For Attitude Small UAV

Samaneh Amini
2015 IAES International Journal of Robotics and Automation  
In this paper, an adaptive sliding mode controller (ASMC) is integrated to design the attitude control system for an inner loop fixed wing UAV.  ...  The dynamic of Unmanned Aerial Vehicle (UAV) is nonlinear, strongly coupled, multi-input multi-output (MIMO), and subject to uncertainties and external disturbances.  ...  The fuzzy sliding mode control based on the multi objective genetic algorithm is presented in [4] to design the altitude autopilot of UAV.  ... 
doi:10.11591/ijra.v4i3.pp219-229 fatcat:iizluzbpa5dxto7uw6xijww4ae

2010 Journal of Guidance, Control and Dynamics Subject Index

2010 Journal of Guidance Control and Dynamics  
G10-175 Navigation Aiding Based on Coupled Online Mosaicking and Camera Scanning Air Traffic Control Systems G10-045 Algorithm for Conformance Monitoring in Air Traffic Control G10-032 Improved Multi-Aircraft  ...  of Spinning Missiles Induced by the Rate Loop G10-025 Impact Angle Constrained Guidance Against Nonstationary Nonmaneuvering Targets G10-065 Target Maneuver Adaptive Guidance Law for a Bounded Acceleration  ... 
doi:10.2514/1.52477 fatcat:kvlsdca6hvhqfpvldlp2pwwon4

Autonomous Vehicle Parking in Dynamic Environments: An Integrated System with Prediction and Motion Planning [article]

Jessica Leu, Yebin Wang, Masayoshi Tomizuka, Stefano Di Cairano
2022 arXiv   pre-print
This paper presents an integrated motion planning system for autonomous vehicle (AV) parking in the presence of other moving vehicles.  ...  ) an optimization-based repairing planner for planning a new path when the original path is invalidated.  ...  Planning Prevailing motion planning approaches fall into three categories: search-based [30] - [32] , sampling-based [33] - [35] and optimization-based [36] - [39] .  ... 
arXiv:2204.10383v2 fatcat:pmha3l23ezhitln7yajfh4uwby
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