Hybrid Systems in Robotics
Jerry Ding, Jeremy Gillula, Haomiao Huang, Michael P. Vitus, Wei Zhang, Claire Jennifer Tomlin · IEEE Robotics & Automation Magazine · 2011
Robotics has provided the motivation and inspiration for many innovations in planning and control. From nonholonomic motion planning [1] to probabilistic road maps [2], from capture basins [3] to preimages [4] of obstacles to avoid, and from geometric nonlinear control [5], [6] to machine-learning methods in robotic control [7], there is a wide range of planning and control algorithms and methodologies that can be traced back to a perceived need or anticipated benefit in autonomous or semiautonomous systems.