Adjustable navigation functions for unknown sphere worlds

Ioannis Filippidis; Kostas J. Kyriakopoulos

doi:10.1109/CDC.2011.6161176

Adjustable navigation functions for unknown sphere worlds

Ioannis Filippidis, Kostas J. Kyriakopoulos

Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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.

Original language	English (US)
Title of host publication	2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	4276-4281
Number of pages	6
ISBN (Print)	9781612848006
DOIs	https://doi.org/10.1109/CDC.2011.6161176
State	Published - 2011
Event	2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011 - Orlando, FL, United States Duration: Dec 12 2011 → Dec 15 2011

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Other

Other	2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
Country/Territory	United States
City	Orlando, FL
Period	12/12/11 → 12/15/11

ASJC Scopus subject areas

Control and Systems Engineering
Modeling and Simulation
Control and Optimization

Access to Document

10.1109/CDC.2011.6161176

Cite this

Filippidis, I., & Kyriakopoulos, K. J. (2011). Adjustable navigation functions for unknown sphere worlds. In 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011 (pp. 4276-4281). [6161176] (Proceedings of the IEEE Conference on Decision and Control). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2011.6161176

Adjustable navigation functions for unknown sphere worlds. / Filippidis, Ioannis; Kyriakopoulos, Kostas J.

2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011. Institute of Electrical and Electronics Engineers Inc., 2011. p. 4276-4281 6161176 (Proceedings of the IEEE Conference on Decision and Control).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Filippidis, I & Kyriakopoulos, KJ 2011, Adjustable navigation functions for unknown sphere worlds. in 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011., 6161176, Proceedings of the IEEE Conference on Decision and Control, Institute of Electrical and Electronics Engineers Inc., pp. 4276-4281, 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011, Orlando, FL, United States, 12/12/11. https://doi.org/10.1109/CDC.2011.6161176

Filippidis I, Kyriakopoulos KJ. Adjustable navigation functions for unknown sphere worlds. In 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011. Institute of Electrical and Electronics Engineers Inc. 2011. p. 4276-4281. 6161176. (Proceedings of the IEEE Conference on Decision and Control). https://doi.org/10.1109/CDC.2011.6161176

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Adjustable navigation functions for unknown sphere worlds

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