Prescribed Time Scale Robot Navigation in Dynamic Environments

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

Research output: Chapter in Book/Report/Conference proceedingConference contribution


In this work, we consider the problem of prescribed time scale robot navigation in dynamic environments. 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 (almost) all initial configurations to an arbitrary neighborhood of any desired configuration within a predetermined time span, and at the same time prevents any collisions with static and moving obstacles as well as with 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 non-trivial numerical simulation.

Original languageEnglish (US)
Title of host publication2018 European Control Conference, ECC 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9783952426982
StatePublished - Nov 27 2018
Event16th European Control Conference, ECC 2018 - Limassol, Cyprus
Duration: Jun 12 2018Jun 15 2018

Publication series

Name2018 European Control Conference, ECC 2018


Conference16th European Control Conference, ECC 2018

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Control and Optimization


Dive into the research topics of 'Prescribed Time Scale Robot Navigation in Dynamic Environments'. Together they form a unique fingerprint.

Cite this