時間最適経路パラメータ化アルゴリズムの漸近的最適性
Asymptotic Optimality of a Time Optimal Path Parametrization Algorithm
アクチュエータ制約下で経路を最短時間で通過する問題に対し、既存の線形時間アルゴリズムが凸最適化で解ける全問題で漸近的に最適であることを証明した。
著者: Igor Spasojevic, Varun Murali, Sertac Karaman
分類: cs.RO, cs.SY, eess.SY, math.OC
原文アブストラクト
Time Optimal Path Parametrization is the problem of minimizing the time interval during which an actuation constrained agent can traverse a given path. Recently, an efficient linear-time algorithm for solving this problem was proposed. However, its optimality was proved for only a strict subclass of problems solved optimally by more computationally intensive approaches based on convex programming. In this paper, we prove that the same linear-time algorithm is asymptotically optimal for all problems solved optimally by convex optimization approaches. We also characterize the optimum of the Time Optimal Path Parametrization Problem, which may be of independent interest.
