TY - GEN
T1 - L*
T2 - 2008 American Control Conference, ACC
AU - Chattopadhyay, Ishanu
AU - Mallapragada, Goutham
AU - Ray, Asok
PY - 2008
Y1 - 2008
N2 - A novel path planning algorithm L* is introduced that reduces the problem to optimization of a probabilistic finite state machine and applies the rigorous theory of language-measure-theoretic optimal control to compute ν-optimal paths to the specified goal. It is shown that although the underlying navigation model is probabilistic, the proposed algorithm computes plans that can be executed in a deterministic sense with automated optimal trade-off between path length and robustness under dynamic uncertainty. The algorithm has been validated on mobile robotic platforms in a laboratory environment.
AB - A novel path planning algorithm L* is introduced that reduces the problem to optimization of a probabilistic finite state machine and applies the rigorous theory of language-measure-theoretic optimal control to compute ν-optimal paths to the specified goal. It is shown that although the underlying navigation model is probabilistic, the proposed algorithm computes plans that can be executed in a deterministic sense with automated optimal trade-off between path length and robustness under dynamic uncertainty. The algorithm has been validated on mobile robotic platforms in a laboratory environment.
UR - http://www.scopus.com/inward/record.url?scp=52449098100&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=52449098100&partnerID=8YFLogxK
U2 - 10.1109/ACC.2008.4586664
DO - 10.1109/ACC.2008.4586664
M3 - Conference contribution
AN - SCOPUS:52449098100
SN - 9781424420797
T3 - Proceedings of the American Control Conference
SP - 1249
EP - 1254
BT - 2008 American Control Conference, ACC
Y2 - 11 June 2008 through 13 June 2008
ER -