Han, Shuo and Murray, Richard M. (2011) Containment indicator function construction via numerical conformal mapping. In: 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE International Conference on Intelligent Robots and Systems . IEEE , Piscataway, NJ, pp. 3017-3022. ISBN 978-1-61284-454-1 http://resolver.caltech.edu/CaltechAUTHORS:20120406-141618413
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In optimal-control-based motion planning, it is often desired to obtain a proper (preferably smooth) function, referred to as the containment indicator function in this paper, that describes the shape of the free space. The paper studies the use of numerical conformal mapping for constructing the containment indicator function for an arbitrary two-dimensional geometry. The idea of using conformal mapping is to transform the original shape of interest into a simpler target shape (e.g. disk, rectangle), which can then be characterized by elementary functions. Computational methods for finding the desired conformal maps are also studied. The procedure can be formulated as a convex optimization problem and computed efficiently.
|Item Type:||Book Section|
|Additional Information:||© 2011 IEEE. Date of Current Version: 05 December 2011. This work is supported by the National Science Foundation (NSF) grant CNS-0931746.|
|Official Citation:||Han, Shuo; Murray, Richard M.; , "Containment indicator function construction via numerical conformal mapping," Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on , vol., no., pp.3017-3022, 25-30 Sept. 2011 doi: 10.1109/IROS.2011.6095037 URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6095037&isnumber=6094399|
|Usage Policy:||No commercial reproduction, distribution, display or performance rights in this work are provided.|
|Deposited By:||Ruth Sustaita|
|Deposited On:||06 Apr 2012 21:45|
|Last Modified:||06 Apr 2012 21:45|
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