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Safe Motion Planning with Tubes and Contraction Metrics

Singh, Sumeet and Tsukamoto, Hiroyasu and Lopez, Brett T. and Chung, Soon-Jo and Slotine, Jean-Jacques (2021) Safe Motion Planning with Tubes and Contraction Metrics. In: 2021 60th IEEE Conference on Decision and Control (CDC). IEEE , Piscataway, NJ, pp. 2943-2948. ISBN 978-1-6654-3659-5.

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The recent proliferation of model predictive control (MPC) in safety-critical systems has placed additional emphasis on developing algorithms that have strict performance guarantees despite the presence of modeling error or external disturbances. This tutorial summarizes key results of combining contraction theory with MPC to enable provably-safe motion planning for robotic and aerospace systems. After a brief review of control contraction metrics, we summarize the fundamental result that any closed-loop contracting system has an associated invariant tube centered around a desired trajectory. It is then shown how these tubes can be systematically incorporated into the motion planning problem as an additional safety margin for systems with uncertain dynamics. Finally, several future research directions are discussed.

Item Type:Book Section
Related URLs:
URLURL TypeDescription
Tsukamoto, Hiroyasu0000-0002-6337-2667
Chung, Soon-Jo0000-0002-6657-3907
Slotine, Jean-Jacques0000-0002-7161-7812
Additional Information:© 2021 IEEE.
Record Number:CaltechAUTHORS:20220210-721904000
Persistent URL:
Official Citation:S. Singh, H. Tsukamoto, B. T. Lopez, S. -J. Chung and J. -J. Slotine, "Safe Motion Planning with Tubes and Contraction Metrics," 2021 60th IEEE Conference on Decision and Control (CDC), 2021, pp. 2943-2948, doi: 10.1109/CDC45484.2021.9682865
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:113417
Deposited By: George Porter
Deposited On:10 Feb 2022 22:35
Last Modified:10 Feb 2022 22:35

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