Robot Motion Planning and Control
Robot Motion Planning and Control
Hybrid Automata with Finite Bisimulatioins
ICALP '95 Proceedings of the 22nd International Colloquium on Automata, Languages and Programming
Dynamical Systems Revisited: Hybrid Systems with Zeno Executions
HSCC '00 Proceedings of the Third International Workshop on Hybrid Systems: Computation and Control
Approximate Reachability Analysis of Piecewise-Linear Dynamical Systems
HSCC '00 Proceedings of the Third International Workshop on Hybrid Systems: Computation and Control
Using Abstractions for the Verification of Linear Hybrid Systems
CAV '94 Proceedings of the 6th International Conference on Computer Aided Verification
Controllers for reachability specifications for hybrid systems
Automatica (Journal of IFAC)
Hybrid Control of a Truck and Trailer Vehicle
HSCC '02 Proceedings of the 5th International Workshop on Hybrid Systems: Computation and Control
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In this paper, we consider the problem of stabilizing the kinematic model of a car to a general path in the plane, subject to very mild restrictions. The car model, although rather simplified, contains some of the most relevant limitations that make application of existing results in the literature impossible: namely, the car can only move forward, and turn with a bounded steering radius; also, only limited sensory information is available. The approach we follow to stabilization is to adapt to the present general case an optimal synthesis approach successfully applied in our previous work to tracking rectilinear paths. Due to both the nature of the problem, and the solution technique used, the analysis of the controlled system involves a rather complex switching logic. Hybrid formalism and verification techniques prove extremely useful in this context to formally proof stability of the resulting system, and are described in detail in the paper.