Navigation Functions for everywhere partially sufficiently curved worlds

Ioannis F. Filippidis; Kostas J. Kyriakopoulos

doi:10.1109/ICRA.2012.6225105

Navigation Functions for everywhere partially sufficiently curved worlds

Ioannis F. Filippidis, Kostas J. Kyriakopoulos

Electrical Engineering

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

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.

Original language	English (US)
Title of host publication	2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2115-2120
Number of pages	6
ISBN (Print)	9781467314039
DOIs	https://doi.org/10.1109/ICRA.2012.6225105
State	Published - 2012
Event	2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States Duration: May 14 2012 → May 18 2012

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Other

Other	2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Country/Territory	United States
City	Saint Paul, MN
Period	5/14/12 → 5/18/12

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

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10.1109/ICRA.2012.6225105

Cite this

Filippidis, I. F., & Kyriakopoulos, K. J. (2012). Navigation Functions for everywhere partially sufficiently curved worlds. In 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 (pp. 2115-2120). Article 6225105 (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2012.6225105

Navigation Functions for everywhere partially sufficiently curved worlds. / Filippidis, Ioannis F.; Kyriakopoulos, Kostas J.
2012 IEEE International Conference on Robotics and Automation, ICRA 2012. Institute of Electrical and Electronics Engineers Inc., 2012. p. 2115-2120 6225105 (Proceedings - IEEE International Conference on Robotics and Automation).

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

Filippidis, IF & Kyriakopoulos, KJ 2012, Navigation Functions for everywhere partially sufficiently curved worlds. in 2012 IEEE International Conference on Robotics and Automation, ICRA 2012., 6225105, Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 2115-2120, 2012 IEEE International Conference on Robotics and Automation, ICRA 2012, Saint Paul, MN, United States, 5/14/12. https://doi.org/10.1109/ICRA.2012.6225105

Filippidis IF, Kyriakopoulos KJ. Navigation Functions for everywhere partially sufficiently curved worlds. In 2012 IEEE International Conference on Robotics and Automation, ICRA 2012. Institute of Electrical and Electronics Engineers Inc. 2012. p. 2115-2120. 6225105. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ICRA.2012.6225105

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Navigation Functions for everywhere partially sufficiently curved worlds

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