Computational aspects for the Koditschek-Rimon navigation function

Q3 Engineering

IFAC-PapersOnLine Pub Date : 2025-01-01 DOI:10.1016/j.ifacol.2025.09.539

Florin Stoican , Theodor-Gabriel Nicu , Daniel-Mihail Ioan , Ionela Prodan

引用次数: 0

Abstract

We revisit here the Koditschek-Rimon navigation function idea for the static sphere world case. While the theoretical scafolding is well-known, details about the numerical computations of the associated bounds are lacking in the literature. We present a full implementation of these bounds and propose future directions for reducing their conservatism.

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Koditschek-Rimon导航函数的计算方面

我们在这里重新讨论静态球体情况下的Koditschek-Rimon导航函数思想。虽然理论支架是众所周知的，但有关相关边界的数值计算细节在文献中缺乏。我们提出了这些限制的全面实施，并提出了减少其保守性的未来方向。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

IFAC-PapersOnLine Engineering-Control and Systems Engineering

CiteScore

1.70

自引率

0.00%

发文量

1122

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