Optimal Control Problems Involving Set Measures

Author:	Wang Paul K.C., University of California, Los Angeles, United States
Topic:	2.4 Optimal Control
Session:	Control Applications of Optimization
Keywords:	optimal control, optimal motion planning, mobile robot control

Abstract

Various optimal control problems involving set measures are formulated. An example for such problems is that of optimal motion planning for a mobile observer or robot equipped with cameras to obtain maximum visual coverage of a given terrain. Optimality conditions in the form of variational inequality and maximum principle are presented. The results are applied to the optimal motion planning problem with a simple terrain.