Kinodynamic Control Systems and Discontinuities in Clearance

DOI10.1137/22M1516221MaRDI QIDQ6135085zbMATH OpenOpenAlexFDO

Authors Niles Armstrong, Jeremy Lecrone

Publication date 23 August 2023

Published in SIAM Journal on Control and Optimization (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/2208.07488

zbMATH Keywords

control theorydiscontinuous value functionminimal time function

Mathematics Subject Classification ID

Regularity of solutions in optimal control (49N60) Attainable sets, reachability (93B03) Nonlinear systems in control theory (93C10)

Abstract: We investigate the structure of discontinuities in clearance (or minimum time) functions for nonlinear control systems with general, closed obstacles (or targets). We establish general results regarding interactions between admissible trajectories and clearance discontinuities: e.g. instantaneous increases in clearance when passing through a discontinuity, and propagation of discontinuity along optimal trajectories. Then, investigating sufficient conditions for discontinuities, we explore a common directionality condition for velocities at a point, characterized by strict positivity of the minimal Hamiltonian. Elementary consequences of this common directionality assumption are explored before demonstrating how, in concert with corresponding obstacle configurations, it gives rise to clearance discontinuities both on the surface of the obstacle and propagating out into free space. Minimal assumptions are made on the topological structure of obstacle sets.

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