Optimal Path-Planning with Random Breakdowns
From MaRDI portal
Hamilton-Jacobi equations in optimal control and differential games (49L12) Applications of continuous-time Markov processes on discrete state spaces (60J28) Numerical solution of discretized equations for boundary value problems involving PDEs (65N22) Control/observation systems governed by functional relations other than differential equations (such as hybrid and switching systems) (93C30) Automated systems (robots, etc.) in control theory (93C85)
Abstract: We propose a model for path-planning based on a single performance metric that accurately accounts for the the potential (spatially inhomogeneous) cost of breakdowns and repairs. These random breakdowns (or system faults) happen at a known, spatially inhomogeneous rate. Our model includes breakdowns of two types: total, which halt all movement until an in-place repair is completed, and partial, after which movement continues in a damaged state toward a repair depot. We use the framework of piecewise-deterministic Markov processes to describe the optimal policy for all starting locations. We also introduce an efficient numerical method that uses hybrid value-policy iterations to solve the resulting system of Hamilton-Jacobi-Bellman PDEs. Our method is illustrated through a series of computational experiments that highlight the dependence of optimal policies on the rate and type of breakdowns, with one of them based on Martian terrain data near Jezero Crater.
This page was built for publication: Optimal Path-Planning with Random Breakdowns
Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q6377676)
