DocumentCode
3089112
Title
Improved predictability of reactive robot control using Control Lyapunov Functions
Author
Ögren, Petter
Author_Institution
Dept. of Autonomous Syst., Swedish Defence Res. Agency, Stockholm
fYear
2008
fDate
22-26 Sept. 2008
Firstpage
1274
Lastpage
1279
Abstract
Model based robot control approaches are often designed to allow the verification of certain system properties such as safety or goal convergence. However, designing such controllers is often very time consuming, and most of the time it is not possible to add additional control objectives without jeopardizing the previously proved system properties.
Keywords
Lyapunov methods; convergence; robots; control Lyapunov functions; goal convergence; improved predictability; reactive robot control; Collision avoidance; Distance measurement; Lyapunov method; Mathematical model; Robot control; Robots; Safety;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on
Conference_Location
Nice
Print_ISBN
978-1-4244-2057-5
Type
conf
DOI
10.1109/IROS.2008.4650674
Filename
4650674
Link To Document