On the minimum-time control problem for differential drive robots with bearing constraints

DOI10.1007/s10957-017-1110-7zbMath1379.49002OpenAlexW2606090999MaRDI QIDQ2412844

Paolo Salaris, Lucia Pallottino, Andrea Cristofaro, Antonio Bicchi, Fabio Giannoni

Publication date: 27 October 2017

Published in: Journal of Optimization Theory and Applications (Search for Journal in Brave)

Full work available at URL: http://hdl.handle.net/11568/855645

zbMATH Keywords

nonholonomic dynamical systemsbearing constraintsdifferential drive vehiclestime-optimal paths

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Control problems involving ordinary differential equations (34H05) Existence theories for optimal control problems involving ordinary differential equations (49J15) Optimality conditions for problems involving ordinary differential equations (49K15) Nonholonomic dynamical systems (37J60)

Related Items

On the minimum-time control problem for differential drive robots with bearing constraints ⋮ Bearing-only formation control of multi-agent systems in local reference frames

Cites Work

• Unnamed Item
• Unnamed Item
• Optimal control with state constraints and the space shuttle re-entry problem
• Optimal paths for a car that goes both forwards and backwards
• On the minimum-time control problem for differential drive robots with bearing constraints
• Nonlinear Optimal Control Theory
• Epsilon-Optimal Synthesis for Vehicles With Vertically Bounded Field-Of-View
• Functional Analysis, Calculus of Variations and Optimal Control
• On Curves of Minimal Length with a Constraint on Average Curvature, and with Prescribed Initial and Terminal Positions and Tangents
• Existence and Nonexistence Results of an Optimal Control Problem by Using Relaxed Control
• Existence Results for Optimal Control Problems with Some Special Nonlinear Dependence on State and Control
• Nonpositive Curvature and Pareto Optimal Coordination of Robots
• Computation of Path Constrained Time Optimal Motions With Dynamic Singularities
• On Optimal Control Problems with Bounded State Variables and Control Appearing Linearly
• Performance of Several Optimization Methods on Robot Trajectory Planning Problems
• The Robot Localization Problem
• Localizing a Robot with Minimum Travel
• Safe Cooperative Robot Dynamics on Graphs
• Multiple View Geometry in Computer Vision
• A Survey of the Maximum Principles for Optimal Control Problems with State Constraints
• Shortest paths synthesis for a car-like robot
• Robust Rendezvous for Mobile Autonomous Agents via Proximity Graphs in Arbitrary Dimensions
• OPTIMAL PROGRAMMING PROBLEMS WITH INEQUALITY CONSTRAINTS