Optimal control, statistics and path planning

Authors:
C. F. Martin;Shan Sun;M. Egerstedt
Affiliations:
Department of Mathematics and Statistics Texas Tech University, Lubbock, TX 79409, U.S.A.;Department of Mathematics and Statistics Texas Tech University, Lubbock, TX 79409, U.S.A.;Optimization and Systems Theory Royal Institute of Technology SE-100 44 Stockholm, Sweden
Venue:
Mathematical and Computer Modelling: An International Journal
Year:
2001

Citing 2
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MIC '08 Proceedings of the 27th IASTED International Conference on Modelling, Identification and Control
Path optimisation considering dynamic constraints

RoboCup 2004

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Abstract

In this paper, some of the relationships between optimal control and statistics are examined. In a series of earlier papers, we examined the relationship between optimal control and conventional splines and between optimal control and the statistical theory of smoothing splines. In this paper, we present a unified treatment of these two problems and extend the same framework to include the concept of ''dynamic time warping'', which is being seen as an important statistical tool as well as being of importance in physics. We show that these three major problems unite to give a satisfactory solution to the problem of trajectory or path planning.