论文标题
不确定地形的运动计划的数学认证有限：案例研究
Mathematical certification of motion planning on uncertain terrain with limited perception: a case study
论文作者
论文摘要
我们为代理商设计一个控制器，该代理商的任务是达到固定目标，同时避免遇到未知A-Priori的一系列障碍。该代理以非平凡的双积分器动力学在二维平面上移动，并仅从周围的环境中接收局部信息。在对障碍家族（平滑度，彼此之间足够距离，有限的曲率等）家庭中的轻度假设下，我们证明我们的控制算法可以保证避免障碍物并融合目标。
We design a controller for an agent whose mission is to reach a stationary target while avoiding a family of obstacles which are not known a-priori. The agent moves in the two dimensional plane with non-trivial double integrator dynamics and receives only local information from its surroundings. Under mild assumptions on the family of obstacles (smoothness, sufficient distance from each other, bounded curvature, etc), we prove that our control algorithm yields guaranteed obstacle avoidance and convergence to the target.
