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Communication Dans Un Congrès Année : 2022

Path generation based on convex lifting: optimization of the corridors

Résumé

The capability to compute a partition of a cluttered environment starting from the obstacles that lie in it enables the construction of a route connecting an initial point to a desired final one. In this paper, we revisit the convex lifting method for the computation of a suitable partition of the cluttered environment with the objective to propose a systematic procedure of reorganization of the cells within the partition in order to repel their boundaries from the obstacles. The ultimate goal is the construction of a connecting-path between an initial point and a final point characterized by a corridor with improved width guaranteeing the collision avoidance. The qualities of the corridors will impact the constraints on the motion of the controlled agent and consequently the real-time performance and robustness of the navigation in a cluttered environment.
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Dates et versions

hal-03767403 , version 1 (01-09-2022)

Identifiants

Citer

Marco Mirabilio, Sorin Olaru, Carlos Eduardo Trabuco Dórea, Alessio Iovine, Maria Domenica Di Benedetto. Path generation based on convex lifting: optimization of the corridors. 18th IFAC Workshop on Control Applications of Optimization (CAO 2022), Jul 2022, Gif sur Yvette, France. ⟨10.1016/j.ifacol.2022.09.034.⟩. ⟨hal-03767403⟩
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