A Mathematical Introduction to Robotic Manipulation
A Mathematical Introduction to Robotic Manipulation
Nonholonomic Motion Planning
Reachability Analysis via Face Lifting
HSCC '98 Proceedings of the First International Workshop on Hybrid Systems: Computation and Control
Verification of Polyhedral-Invariant Hybrid Automata Using Polygonal Flow Pipe Approximations
HSCC '99 Proceedings of the Second International Workshop on Hybrid Systems: Computation and Control
A New Class of Decidable Hybrid Systems
HSCC '99 Proceedings of the Second International Workshop on Hybrid Systems: Computation and Control
Computing Controllers for Nonlinear Hybrid Systems
HSCC '99 Proceedings of the Second International Workshop on Hybrid Systems: Computation and Control
Decidable Controller Synthesis for Classes of Linear Systems
HSCC '00 Proceedings of the Third International Workshop on Hybrid Systems: Computation and Control
Level Set Methods for Computation in Hybrid Systems
HSCC '00 Proceedings of the Third International Workshop on Hybrid Systems: Computation and Control
Controllers for reachability specifications for hybrid systems
Automatica (Journal of IFAC)
SIAM Journal on Control and Optimization
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The algorithmic design of least restrictive controllers for hybrid systems that satisfy reachability specifications has received much attention recently. Despite the importance of algorithmic approaches to controller design for hybrid systems, results that guarantee termination of the algorithms have been limited. In this paper, we extend recent decidability results on controller synthesis for classes of linear hybrid systems to semi-decision procedures for triangular hybrid systems which can be used to model nonholonomic systems after a transformation. Our results are then applied to verification of a conflict resolution maneuver from air traffic control.