Publication Type:E. Conference Papers
Source:Proc. 27th American Control Conference, Issue NULL, p.2254–2259 (2008)
Abstract:We introduce a modeling framework for robustness of maneuver-based motion planning algorithms for nonlinear systems with symmetries. Our framework implements a hybrid controller that robustly combines motion primitives from a pre-defined library. The closed-loop system is viewed as a hybrid system with flows given by a differential equation, jumps given by a difference equation, and two sets where these dynamics are allowed. We show that our hybrid controller for implementation of motion planning algorithms confers to the closed-loop system robustness properties to a large class of perturbations.