Brief paper: Multi-modal control using adaptive motion description languages

Authors:
Tejas R. Mehta;Magnus Egerstedt
Affiliations:
School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, GA 30332, USA;School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, GA 30332, USA
Venue:
Automatica (Journal of IFAC)
Year:
2008

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Abstract

In this paper, we address the problem of adaptively enriching motion description languages for multi-modal control by systematically enlarging the set of available modes. This problem is formulated as an optimal control problem, where new modes are designed by combining recurring mode string fragments into smooth, new ''meta-modes'', and variational arguments are employed to derive optimality conditions for this construction.