Approximate Motion Planning for Constrained Switched Systems
Ivan Papusha, Richard Murray

Citation
Ivan Papusha, Richard Murray. "Approximate Motion Planning for Constrained Switched Systems". Talk or presentation, 30, October, 2014; Poster presented at the 2014 TerraSwarm Annual Meeting.

Abstract
In this work we are focused on developing novel state of the art algorithms for constrained motion planning of dynamic agents, such as robotic vehicles, manipulators, and walkers, with a view toward applications to single- and multi-agent hybrid systems and their formal verification. In the proposed framework inspired by approximate dynamic programming, easily computable lower and upper bound approximations are made on a global value function, with a different approximation for every mode. Candidate bounds are characterized by semi-infinite constraints, which are carefully discretized in an adaptive branch and bound scheme that aims to delay the onset of the curse of dimensionality. The best bounds are chosen by optimization. The result is a complete planner whose implementation benefits from advances in distributed optimization and formal methods. Such planners are amenable to generic implementation on a decentralized platform, and a robotic demo meant to showcase the technology is envisioned.

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Citation formats

• HTML

  Ivan Papusha, Richard Murray. <a
  href="http://www.terraswarm.org/pubs/416.html"><i>Approximate
  Motion Planning for Constrained Switched
  Systems</i></a>, Talk or presentation,  30,
  October, 2014; Poster presented at the <a
  href="http://www.terraswarm.org/conferences/14/annual"
  >2014 TerraSwarm Annual Meeting</a>.

• Plain text

  Ivan Papusha, Richard Murray. "Approximate Motion
  Planning for Constrained Switched Systems". Talk or
  presentation,  30, October, 2014; Poster presented at the
  <a
  href="http://www.terraswarm.org/conferences/14/annual"
  >2014 TerraSwarm Annual Meeting</a>.

• BibTeX

  @presentation{PapushaMurray14_ApproximateMotionPlanningForConstrainedSwitchedSystems,
      author = {Ivan Papusha and Richard Murray},
      title = {Approximate Motion Planning for Constrained
                Switched Systems},
      day = {30},
      month = {October},
      year = {2014},
      note = {Poster presented at the <a
                href="http://www.terraswarm.org/conferences/14/annual"
                >2014 TerraSwarm Annual Meeting</a>.},
      abstract = {In this work we are focused on developing novel
                state of the art algorithms for constrained motion
                planning of dynamic agents, such as robotic
                vehicles, manipulators, and walkers, with a view
                toward applications to single- and multi-agent
                hybrid systems and their formal verification. In
                the proposed framework inspired by approximate
                dynamic programming, easily computable lower and
                upper bound approximations are made on a global
                value function, with a different approximation for
                every mode. Candidate bounds are characterized by
                semi-infinite constraints, which are carefully
                discretized in an adaptive branch and bound scheme
                that aims to delay the onset of the curse of
                dimensionality. The best bounds are chosen by
                optimization. The result is a complete planner
                whose implementation benefits from advances in
                distributed optimization and formal methods. Such
                planners are amenable to generic implementation on
                a decentralized platform, and a robotic demo meant
                to showcase the technology is envisioned.},
      URL = {http://terraswarm.org/pubs/416.html}
  }
  

Posted by Ivan Papusha on 29 Oct 2014.
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