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dc.contributor.authorGrøtli, Esten Ingar
dc.contributor.authorStoican, Florin
dc.contributor.authorProdan, Ionela
dc.date.accessioned2018-12-03T11:03:59Z
dc.date.available2018-12-03T11:03:59Z
dc.date.created2018-09-12T10:14:34Z
dc.date.issued2018
dc.identifier.citationInternational Journal of Robust and Nonlinear Control. 2018, 28 (15), 4528-4548.nb_NO
dc.identifier.issn1049-8923
dc.identifier.urihttp://hdl.handle.net/11250/2575765
dc.description.abstractThe corner cutting avoidance problem is an important but often overlooked part of motion planning strategies. Obstacle and collision avoidance constraints are usually imposed at the sampling time without regards to the intrasample behavior of the agent. Hence, it is possible for an agent to “cut the corner” of an obstacle while apparently respecting the constraints. This paper improves upon state of the art by providing exact and overapproximated descriptions of the undershadow (and of its complement, the visible) region generated by an agent against obstacles. We employ a hyperplane arrangement construction to handle multiple obstacles simultaneously and provide piecewise descriptions of the regions of interest and parametrizations of the corner cutting conditions (useful, eg, in finite horizon optimization problems). Mixed‐integer representations are used to describe the regions of interest, leading in the overapproximated case to binary‐only constraints. Illustrative proofs of concept, comparisons with the state of the art, and simulations over a standard multiobstacle avoidance problem showcase the benefits of the proposed approachnb_NO
dc.language.isoengnb_NO
dc.titleExact and over-approximated guarantees for corner cutting avoidance in a multi-obstacle environmentnb_NO
dc.title.alternativeExact and over-approximated guarantees for corner cutting avoidance in a multi-obstacle environmentnb_NO
dc.typeJournal articlenb_NO
dc.typePeer reviewednb_NO
dc.description.versionsubmittedVersionnb_NO
dc.source.pagenumber4528-4548nb_NO
dc.source.volume28nb_NO
dc.source.journalInternational Journal of Robust and Nonlinear Controlnb_NO
dc.identifier.doi10.1002/rnc.4248
dc.identifier.cristin1608763
dc.relation.projectNorges forskningsråd: 268492nb_NO
cristin.unitcode7401,90,23,0
cristin.unitnameAnvendt kybernetikk
cristin.ispublishedtrue
cristin.fulltextpreprint
cristin.qualitycode1


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