Motion Planning for Multiple Systems under Coordinated Constraints
Abstract
Two problems of motion planning for controlled systems which arerequired to attain a given target set while satisfying coordinatedconstraints are formulated and solved using dynamic optimizationtechniques. Constraint coordination arises when thestate of each system is mapped onto state constraints for other systems. The problems are formulated in terms of backwardreach sets which are the sub-zero level sets of appropriate valuefunctions for non-standard cost functions. The value functions arethe solutions of Hamilton-Jacobi-Bellman type PDEs. For lineardynamics and ellipsoidal constraints the value functions arecalculated through duality techniques from convex analysis.
