Adjustable navigation functions for unknown sphere worlds

Filippidis, I; Kyriakopoulos, KJ

dc.contributor.author	Filippidis, I	en
dc.contributor.author	Kyriakopoulos, KJ	en
dc.date.accessioned	2014-03-01T02:52:52Z
dc.date.available	2014-03-01T02:52:52Z
dc.date.issued	2011	en
dc.identifier.issn	01912216	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/36119
dc.subject.other	Automated tuning	en
dc.subject.other	Diffeomorphisms	en
dc.subject.other	Lower bounds	en
dc.subject.other	Navigation functions	en
dc.subject.other	Navigation problem	en
dc.subject.other	Tuning parameter	en
dc.subject.other	Algorithms	en
dc.subject.other	Navigation	en
dc.subject.other	Spheres	en
dc.title	Adjustable navigation functions for unknown sphere worlds	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/CDC.2011.6161176	en
heal.identifier.secondary	6161176	en
heal.identifier.secondary	http://dx.doi.org/10.1109/CDC.2011.6161176	en
heal.publicationDate	2011	en
heal.abstract	This paper introduces an algorithm for automatically tuning analytic navigation functions for sphere worlds. The tuning parameter must satisfy a lower bound to ensure collision avoidance and convergence. Until now analytic navigation functions have been manually tuned, although existence of a lower bound had been proved. A theoretical improvement on this lower bound is provided and the method is extended to unbounded manifolds. Then the required formulas are derived and algorithm described. So the lower bound is here evaluated in terms of sphere world centers and radii. Automated tuning enables completely unattended solution of any navigation problem in unknown sphere worlds and a priori known worlds which belong to the sphere world diffeomorphism class. © 2011 IEEE.	en
heal.journalName	Proceedings of the IEEE Conference on Decision and Control	en
dc.identifier.doi	10.1109/CDC.2011.6161176	en
dc.identifier.spage	4276	en
dc.identifier.epage	4281	en