CaltechAUTHORS
  A Caltech Library Service

Containment indicator function construction via numerical conformal mapping

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. https://resolver.caltech.edu/CaltechAUTHORS:20120406-141618413

Full text is not posted in this repository. Consult Related URLs below.

Use this Persistent URL to link to this item: https://resolver.caltech.edu/CaltechAUTHORS:20120406-141618413

Abstract

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
Related URLs:
URLURL TypeDescription
http://dx.doi.org/10.1109/IROS.2011.6095037DOIArticle
http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6095037PublisherArticle
ORCID:
AuthorORCID
Murray, Richard M.0000-0002-5785-7481
Additional Information:© 2011 IEEE. Date of Current Version: 05 December 2011. This work is supported by the National Science Foundation (NSF) grant CNS-0931746.
Funders:
Funding AgencyGrant Number
NSFCNS-0931746
Series Name:IEEE International Conference on Intelligent Robots and Systems
Record Number:CaltechAUTHORS:20120406-141618413
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20120406-141618413
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.
ID Code:30021
Collection:CaltechAUTHORS
Deposited By: Ruth Sustaita
Deposited On:06 Apr 2012 21:45
Last Modified:03 Oct 2019 03:46

Repository Staff Only: item control page