Theory of linear and integer programming
Theory of linear and integer programming
Mathematical control theory: deterministic finite dimensional systems (2nd ed.)
Mathematical control theory: deterministic finite dimensional systems (2nd ed.)
Control Problems in Robotics
Planning Algorithms
Sensor/actuator abstractions for symbolic embedded control design
HSCC'05 Proceedings of the 8th international conference on Hybrid Systems: computation and control
Maneuver-based motion planning for nonlinear systems with symmetries
IEEE Transactions on Robotics
Hierarchical trajectory refinement for a class of nonlinear systems
Automatica (Journal of IFAC)
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Finite plans proved to be an efficient method to steer complex control systems via feedback quantization. Such finite plans can be encoded by finite–length words constructed on suitable alphabets, thus permitting transmission on limited capacity channels. In particular flat systems can be steered computing arbitrarily close approximations of a desired equilibrium in polynomial time. The paper investigates how the efficiency of planning is affected by the choice of inputs, and provides some results as to optimal performance in terms of accuracy and range. Efficiency is here measured in terms of computational complexity and description length (in number of bits) of finite plans.