Event-based planning and control for robotic systems: Theory and implementation
The work introduces event-based motion planning combined with nonlinear feedback control. The key idea is to define a suitable motion reference variable, and to this end the authors select the distance \(s\) along the reference path. With this data, event-based time optimal plan and event-based minimum-energy plan can be treated by using Pontryagin maximum principle. Cartesian space event-based plans are decomposed into straight line paths and circular paths. It is shown that under some conditions the stabilities with respect to time and with respect to \(s\) are the same. For the entire collection see [Zbl 0903.00092].
- Path-based approach to integrated planning and control for robotic systems
- scientific article; zbMATH DE number 797432
- Event-based tracking control for nonholonomic mobile robots
- Event-driven optimal control for a robotic exploration, pick-up and delivery problem
- scientific article; zbMATH DE number 426006
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