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

Minimum-Time Optimal Control of Many Robots that Move in the Same Direction at Different Speeds

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

1 Author(s)
Bretl, T. ; Dept. of Aerosp. Eng., Univ. of Illinois at Urbana-Champaign, Urbana, IL, USA

In this paper, we solve the minimum-time optimal control problem for a group of robots that can move at different speeds but that must all move in the same direction. We are motivated to solve this problem because constraints of this sort are common in micro-scale and nano-scale robotic systems. By application of the minimum principle, we obtain necessary conditions for optimality and use them to guess a candidate control policy. By showing that the corresponding value function is a viscosity solution to the Hamilton-Jacobi-Bellman equation, we verify that our guess is optimal. The complexity of finding this policy for arbitrary initial conditions is only quasilinear in the number of robots, and in fact is dominated by the computation of a planar convex hull. We extend this result to consider obstacle avoidance by explicit parameterization of all possible optimal control policies, and show examples in simulation.

Published in:

Robotics, IEEE Transactions on  (Volume:28 ,  Issue: 2 )

Date of Publication:

April 2012

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.