Dynamical Trajectory Replanning for Uncertain Environments

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dc.contributor.authorRevzen, Shai
dc.contributor.authorIlhan, B. Deniz
dc.contributor.authorKoditschek, Daniel E
dc.date2023-05-17T08:09:09.000
dc.date.accessioned2023-05-22T19:10:39Z
dc.date.available2023-05-22T19:10:39Z
dc.date.issued2012-01-01
dc.date.submitted2013-10-22T11:18:43-07:00
dc.description.abstractWe propose a dynamical reference generator equipped with an augmented transient “replanning” subsystem that modulates a feedback controller’s efforts to force a mechanical plant to track the reference signal. The replanner alters the reference generator’s output in the face of unanticipated disturbances that drive up the tracking error. We demonstrate that the new reference generator cannot destabilize the tracker, that tracking errors converge in the absence of disturbance, and that the overall coupled reference-tracker system cannot be destabilized by disturbances of bounded energy. We report the results of simulation studies exploring the performance of this new design applied to a two dimensional point mass particle interacting with fixed but unknown terrain obstacles. For more information: Kod*Lab
dc.description.commentsBibTeX entry @INPROCEEDINGS{6425897, author={Revzen, S. and Ilhan, B.D. and Koditschek, D.E.}, booktitle={Decision and Control (CDC), 2012 IEEE 51st Annual Conference on}, title={Dynamical trajectory replanning for uncertain environments}, year={2012}, pages={3476-3483}, doi={10.1109/CDC.2012.6425897}, ISSN={0743-1546}, } This work was supported in part by AFOSR under the CHASE MURI FA95501010567 and in part by ONR under the HUNT MURI N00014–07–0829. Copyright YEAR IEEE. Reprinted from Proceedings of the 51st IEEE International Symposium on Artificial Intelligence 2012 (SAI 2012), pages 3476-3483. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.
dc.formatflash_audio
dc.identifier.urihttps://repository.upenn.edu/handle/20.500.14332/33869
dc.legacy.articleid1693
dc.legacy.fieldstrue
dc.legacy.fulltexturlhttps://repository.upenn.edu/cgi/viewcontent.cgi?article=1693&context=ese_papers&unstamped=1
dc.relation.multimediahttps://youtu.be/bZQ7yIZe8oQ
dc.source.issue644
dc.source.journalDepartmental Papers (ESE)
dc.source.peerreviewedtrue
dc.source.statuspublished
dc.subject.otherGRASP
dc.subject.otherKodlab
dc.subject.otherElectrical and Computer Engineering
dc.subject.otherEngineering
dc.subject.otherSystems Engineering
dc.titleDynamical Trajectory Replanning for Uncertain Environments
dc.typePresentation
digcom.identifierese_papers/644
digcom.identifier.contextkey4751560
digcom.identifier.submissionpathese_papers/644
digcom.typeconference
dspace.entity.typePublication
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upenn.schoolDepartmentCenterDepartmental Papers (ESE)
upenn.schoolDepartmentCenterGeneral Robotics, Automation, Sensing and Perception Laboratory
upenn.schoolDepartmentCenterKod*lab
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