Hierarchical Hybrid Control with Classical Planning and Trajectory Optimization
نویسندگان
چکیده
منابع مشابه
Hierarchical Hybrid Control with Classical Planning and Trajectory Optimization
One method of control of cyberphysical systems, particularly intelligent mobile robots, involves a hierarchy of high-level classical planning and low-level trajectory optimization. We present a new technique to incorporate trajectory costs in a high-level classical planning problem (CPP). The proposed approach is particularly suited to leverage existing algorithms for solving CPPs and, independ...
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ژورنال
عنوان ژورنال: IFAC-PapersOnLine
سال: 2015
ISSN: 2405-8963
DOI: 10.1016/j.ifacol.2015.11.171