Title :
On f-invariant and attractive affine varieties for continuous-time polynomial systems: The case of robot motion planning
Author :
Possieri, Corrado ; Tornambe, Antonio
Author_Institution :
Dipt. di Ing. Civile e Ing. Inf., Univ. di Roma Tor Vergata, Rome, Italy
Abstract :
The main objective of this paper is to describe a class of polynomial vector fields f, whose associated dynamic system has one or more affine varieties as f-invariant and attractive sets. This result can be used for robot motion planning, thus computing robot paths, avoiding collisions with obstacles and reaching a target point.
Keywords :
collision avoidance; continuous time systems; mobile robots; polynomials; associated dynamic system; attractive affine varieties; attractive sets; collision avoidance; continuous-time polynomial systems; f-invariant varieties; polynomial vector fields; robot motion planning; robot paths; Collision avoidance; Polynomials; Robots; Software algorithms; Traffic control; Trajectory; Vectors; attractive affine varieties; f-invariant affine varieties; non-linear systems; polynomial systems; robot motion;
Conference_Titel :
Decision and Control (CDC), 2014 IEEE 53rd Annual Conference on
Conference_Location :
Los Angeles, CA
Print_ISBN :
978-1-4799-7746-8
DOI :
10.1109/CDC.2014.7039973
