Hierarchical trajectory optimization for a class of hybrid dynamical systems

DOI10.1016/J.AUTOMATICA.2016.11.040MaRDI QIDQ510097zbMATH OpenOpenAlexFDO

Authors Raghvendra V. Cowlagi

Publication date 16 February 2017

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.automatica.2016.11.040

zbMATH Keywords

autonomous mobile robotsoptimal trajectoryhierarchically intelligent control

Mathematics Subject Classification ID

Applications of graph theory (05C90) Hierarchical systems (93A13) Automated systems (robots, etc.) in control theory (93C85)

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Cites work

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• Optimal control of a class of hybrid systems
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Cited in

(6)

• Existence of optimal controls on hybrid time domains
• ScottyActivity: mixed discrete-continuous planning with convex optimization
• A hybrid multiagent approach for global trajectory optimization
• Combined time and energy optimal trajectory planning with quadratic drag for mixed discrete-continuous task planning
• The minimum principle of hybrid optimal control theory
• Tree Based Trajectory Optimization Based on Local Linearity of Continuous Non-Linear Dynamics

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