Minimal sensitivity control for hybrid environments
Alex R. Ansari, Todd D. Murphey · 2013
This paper presents a method to develop trajectories which remain optimally insensitive to sudden changes in dynamics. The approach is applied to two example systems that model a vehicle's attempt to navigate through potentially hazardous areas of the state space. Through these simplified examples, we show how to automatically plan trajectories which either avoid or adjust controls to safely pass through critical regions of the state space.