ベジェ可到達ポリトープ：階層型アーキテクチャにおけるロバスト運動計画のための効率的な証明
Bezier Reachable Polytopes: Efficient Certificates for Robust Motion Planning with Layered Architectures
ベジェ多項式参照軌道の可到達集合をポリトープで表現し、下位コントローラが追従可能な軌道を保証する証明手法を提案。階層型制御系の長期的タスク計画を計算効率的に扱えるようにする。
著者: Noel Csomay-Shanklin, Aaron D. Ames
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
Control architectures are often implemented in a layered fashion, combining independently designed blocks to achieve complex tasks. Providing guarantees for such hierarchical frameworks requires considering the capabilities and limitations of each layer and their interconnections at design time. To address this holistic design challenge, we introduce the notion of Bezier Reachable Polytopes -- certificates of reachable points in the space of Bezier polynomial reference trajectories. This approach captures the set of trajectories that can be tracked by a low-level controller while satisfying state and input constraints, and leverages the geometric properties of Bezier polynomials to maintain an efficient polytopic representation. As a result, these certificates serve as a constructive tool for layered architectures, enabling long-horizon tasks to be reasoned about in a computationally tractable manner.
