Locally computable navigation functions for sphere worlds

Lionis, G; Papageorgiou, X; Kyriakopoulos, KJ

dc.contributor.author	Lionis, G	en
dc.contributor.author	Papageorgiou, X	en
dc.contributor.author	Kyriakopoulos, KJ	en
dc.date.accessioned	2014-03-01T02:44:49Z
dc.date.available	2014-03-01T02:44:49Z
dc.date.issued	2007	en
dc.identifier.issn	10504729	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/31952
dc.subject	Local Computation	en
dc.subject.other	Computational methods	en
dc.subject.other	Computer simulation	en
dc.subject.other	Parameter estimation	en
dc.subject.other	Navigation functions	en
dc.subject.other	Sensing zones	en
dc.subject.other	Spheres	en
dc.title	Locally computable navigation functions for sphere worlds	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/ROBOT.2007.363615	en
heal.identifier.secondary	4209379	en
heal.identifier.secondary	http://dx.doi.org/10.1109/ROBOT.2007.363615	en
heal.publicationDate	2007	en
heal.abstract	In this paper we present a new Navigation Function for a sphere world that can be computed locally with limited knowledge of the environment. By requiring smooth and not analytic NF, the effect of each obstacle is exactly nullified outside a sensing zone around the obstacle (the only required parameter is the width of the sensing zone). This allows the computation of the navigation function using information from a single obstacle each time. We present simulations to verify the validity of this approach. © 2007 IEEE.	en
heal.journalName	Proceedings - IEEE International Conference on Robotics and Automation	en
dc.identifier.doi	10.1109/ROBOT.2007.363615	en
dc.identifier.spage	1998	en
dc.identifier.epage	2003	en