Prescribed Time Scale Robot Navigation

Constantinos Vrohidis, Panagiotis Vlantis, Charalampos P. Bechlioulis, Kostas J. Kyriakopoulos

Research output: Contribution to journalArticlepeer-review


In this letter, we consider the problem of prescribed time scale robot navigation. Initially, we treat the problem for a special class of configuration spaces, namely, sphere worlds, proposing a time-varying control scheme that drives the robot from any initial condition to an arbitrary neighborhood of any desired configuration within a predetermined time span, and at the same time prevents any collisions with the obstacles and the workspace boundary along the way. The introduction of a novel vector field allows us to establish the safety of the system and simultaneously apply the prescribed performance control technique to guarantee any predefined transient behavior. Subsequently, we leverage well-established transformations to apply the proposed scheme to the far more practical class of generalized sphere worlds. Finally, we validate the theoretical findings via a numerical simulation.

Original languageEnglish (US)
Article number8260837
Pages (from-to)1191-1198
Number of pages8
JournalIEEE Robotics and Automation Letters
Issue number2
StatePublished - Apr 2018


  • Collision avoidance
  • motion and path planning
  • reactive and sensor-based planning

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Biomedical Engineering
  • Human-Computer Interaction
  • Mechanical Engineering
  • Computer Vision and Pattern Recognition
  • Computer Science Applications
  • Control and Optimization
  • Artificial Intelligence


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