TY - GEN
T1 - Minimal sensitivity control for hybrid environments
AU - Ansari, Alex
AU - Murphey, Todd
PY - 2013
Y1 - 2013
N2 - This paper presents a method to develop trajectories which remain optimally insensitive to sudden changes in dynamics. The approach is applied to two example systems that model a vehicle's attempt to navigate through potentially hazardous areas of the state space. Through these simplified examples, we show how to automatically plan trajectories which either avoid or adjust controls to safely pass through critical regions of the state space.
AB - This paper presents a method to develop trajectories which remain optimally insensitive to sudden changes in dynamics. The approach is applied to two example systems that model a vehicle's attempt to navigate through potentially hazardous areas of the state space. Through these simplified examples, we show how to automatically plan trajectories which either avoid or adjust controls to safely pass through critical regions of the state space.
UR - http://www.scopus.com/inward/record.url?scp=84893723031&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84893723031&partnerID=8YFLogxK
U2 - 10.1109/IROS.2013.6696784
DO - 10.1109/IROS.2013.6696784
M3 - Conference contribution
AN - SCOPUS:84893723031
SN - 9781467363587
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 3023
EP - 3028
BT - IROS 2013
T2 - 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
Y2 - 3 November 2013 through 8 November 2013
ER -