The main objective of this paper is to describe a class of polynomial vector fields f, whose associated dynamic system has one or more affine varieties as f-invariant and attractive sets. This result can be used for robot motion planning, thus computing robot paths, avoiding collisions with obstacles and reaching a target point.
Possieri, C., Tornambe, A. (2014). On f-invariant and attractive affine varieties for continuous-time polynomial systems: The case of robot motion planning. In Proceedings of the IEEE Conference on Decision and Control (pp.3751-3756). Institute of Electrical and Electronics Engineers Inc. [10.1109/CDC.2014.7039973].
On f-invariant and attractive affine varieties for continuous-time polynomial systems: The case of robot motion planning
Possieri, Corrado;Tornambe, Antonio
2014-01-01
Abstract
The main objective of this paper is to describe a class of polynomial vector fields f, whose associated dynamic system has one or more affine varieties as f-invariant and attractive sets. This result can be used for robot motion planning, thus computing robot paths, avoiding collisions with obstacles and reaching a target point.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
