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We consider a path-planning scenario for a mobile robot traveling in a configuration space with obstacles under the presence of stochastic disturbances. A novel path length metric is proposed on the uncertain configuration space and then integrated with the existing RRT* algorithm. The metric is a weighted sum of two terms which capture both the Euclidean distance traveled by the robot and the perception cost, i.e., the amount of information the robot must perceive about the environment toarXiv:2002.12494v1 fatcat:lahgbyj6z5h2hhieiwf6r5mwpi
more »... w the path safely. The continuity of the path length function with respect to the topology of the total variation metric is shown and the optimality of the Rationally Inattentive RRT* algorithm is discussed. Three numerical studies are presented which display the utility of the new algorithm.
Walker Department of Mechanical Engineering, University of Texas at Austin. email@example.com. 2 Department of Systems and Control, Tokyo Institute of Technology. firstname.lastname@example.org. ...arXiv:2109.13976v1 fatcat:77bg2xxtvjclzfvdsleyszsewu
This paper presents a collision avoidance method for elliptical agents traveling in a two-dimensional space. We first formulate a separation condition for two elliptical agents utilizing a signed distance from a supporting line of an agent to the other agent, which renders a positive value if two ellipses are separated by the line. Because this signed distance could yield a shorter length than the actual distance between two ellipses, the supporting line is rotated so that the signed distancearXiv:2204.13287v1 fatcat:oulwy4t3rncmfn26kvdprfjezq
more »... om the line to the other ellipse is maximized. We prove that this maximization problem renders the signed distance equivalent to the actual distance between two ellipses, hence not causing the conservative evasive motion. Then, we propose the collision avoidance method utilizing novel control barrier functions incorporating a gradient-based update law of a supporting line. The validity of the proposed methods is evaluated in the simulations.
By calculation, we havẽ Rp il )(p T il R T W Ξp il ) − Rp il Ξp il ) + o(t) e T 3 (R + Ξt)p il 2 (e T 3 Rp il ) Hatanaka, Riku Funada and Masayuki Fujita are with the Department of Mechanical and Control ... Engineering, Tokyo Institute of Technology, Tokyo 152-8552, JAPAN hatanaka,funada,email@example.com leads R wi to the set of critical points of H i . ...arXiv:1309.5702v1 fatcat:6o4pbamavbaetdpkghl7i7zkjm
In this paper, we address distributed 3-D visual human localization for a visual sensor network and present a passivity-based solution. We first formulate the intended problem as a distributed optimization problem. A passivity-based distributed optimization algorithm is then applied to the problem, and it is pointed out that it ensures asymptotic optimality but the convergence speed is considerably slow. To accelerate the convergence, we present a novel algorithm based on a loop shapingdoi:10.9746/sicetr.54.547 fatcat:wyrvlxh5ojgczb476hlumuw5dy
more »... e and it is shown to maintain convergence to the optimal solution based on passivity. The present algorithm is finally demonstrated through simulation, wherein not only convergence acceleration but also robustness against disturbances are confirmed.
Transactions of the Society of Instrument and Control Engineers
Funada and M. ...doi:10.9746/sicetr.51.139 fatcat:rypzqn5cgjdovljqmh5hdb2z5u
This paper investigates constrained semi-autonomous robotic swarms in the presence of inter-robot communication delays. The objective is that all robots converge to the optimal point related to the reference given by a human operator without violating the constraints. In the presence of constraints, directly applying the human reference may make the system violate constraints. We thus apply a reference governor which suitably modifies the reference to avoid constraint violations. Due to thedoi:10.9746/jcmsi.12.237 fatcat:buyhqjoes5hdnm6gzpq5x7e5ei