Navigation Functions for everywhere partially sufficiently curved worlds

Filippidis, IF; Kyriakopoulos, KJ

dc.contributor.author	Filippidis, IF	en
dc.contributor.author	Kyriakopoulos, KJ	en
dc.date.accessioned	2014-03-01T02:53:56Z
dc.date.available	2014-03-01T02:53:56Z
dc.date.issued	2012	en
dc.identifier.issn	10504729	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/36495
dc.subject.other	Boundary points	en
dc.subject.other	Configuration space	en
dc.subject.other	Curvature radii	en
dc.subject.other	Diffeomorphisms	en
dc.subject.other	Navigation functions	en
dc.subject.other	Normal curvature	en
dc.subject.other	Tangent spheres	en
dc.subject.other	Robotics	en
dc.title	Navigation Functions for everywhere partially sufficiently curved worlds	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/ICRA.2012.6225105	en
heal.identifier.secondary	http://dx.doi.org/10.1109/ICRA.2012.6225105	en
heal.identifier.secondary	6225105	en
heal.publicationDate	2012	en
heal.abstract	We extend Navigation Functions (NF) to worlds of more general geometry and topology. This is achieved without the need for diffeomorphisms, by direct definition in the geometrically complicated configuration space. Every obstacle boundary point should be partially sufficiently curved. This requires that at least one principal normal curvature be sufficient. A normal curvature is termed sufficient when the tangent sphere with diameter the associated curvature radius is a subset of the obstacle. Examples include ellipses with bounded eccentricity, tori, cylinders, one-sheet hyperboloids and others. Our proof establishes the existence of appropriate tuning for this purpose. Direct application to geometrically complicated cases is illustrated through nontrivial simulations. © 2012 IEEE.	en
heal.journalName	Proceedings - IEEE International Conference on Robotics and Automation	en
dc.identifier.doi	10.1109/ICRA.2012.6225105	en
dc.identifier.spage	2115	en
dc.identifier.epage	2120	en