Cart (Loading....) | Create Account
Close category search window
 

Constructive controllability algorithms for motion planning and optimization

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Cerven, W.T. ; Dept. of Aeronaut. & Astronaut. Eng., Illinois Univ., Urbana, IL, USA ; Bullo, F.

Presents algorithms for planning feasible and minimum energy paths. The algorithms rely on series expansions to characterize planning problems for polynomial control systems. The resulting inversion problem is solved through an iterative contraction or a power series inversion. While the design methodology is general, our focus is on a class of polynomial control systems for which we provide explicit convergence guarantees. We demonstrate performance and numerical characteristics using one dimensional and six dimensional systems.

Published in:

Automatic Control, IEEE Transactions on  (Volume:48 ,  Issue: 4 )

Date of Publication:

April 2003

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.