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The Dynamic Window Approach to Collision Avoidance
"... This paper describes the dynamic window approach to reactive collision avoidance for mobile robots equipped with synchrodrives. The approach is derived directly from the motion dynamics of the robot and is therefore particularly wellsuited for robots operating at high speed. It differs from previo ..."
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Cited by 433 (32 self)
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previous approaches in that the search for commands controlling the translational and rotational velocity of the robot is carried out directly in the space of velocities. The advantage of our approach is that it correctly and in an elegantway incorporates the dynamics of the robot. This is done by reducing
What's Decidable about Hybrid Automata?
 Journal of Computer and System Sciences
, 1995
"... . Hybrid automata model systems with both digital and analog components, such as embedded control programs. Many verification tasks for such programs can be expressed as reachability problems for hybrid automata. By improving on previous decidability and undecidability results, we identify a boundar ..."
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Cited by 377 (16 self)
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. Hybrid automata model systems with both digital and analog components, such as embedded control programs. Many verification tasks for such programs can be expressed as reachability problems for hybrid automata. By improving on previous decidability and undecidability results, we identify a
Controllers for Reachability Specifications for Hybrid Systems
 Automatica
, 1999
"... The problem of systematically synthesizing hybrid controllers which satisfy multiple control objectives is considered. We present a technique, based on the principles of optimal control, for determining the class of least restrictive controllers that satisfies the most important objective (which we ..."
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Cited by 172 (42 self)
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The problem of systematically synthesizing hybrid controllers which satisfy multiple control objectives is considered. We present a technique, based on the principles of optimal control, for determining the class of least restrictive controllers that satisfies the most important objective (which we
SWITCHED SINGULAR LINEAR SYSTEMS AND REACHABILITY
"... We consider switched singular linear systems and conditions for such a system to be reachable/controllable in the cases where some hypotheses hold. Key words Switched linear system, controllability. 1 ..."
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We consider switched singular linear systems and conditions for such a system to be reachable/controllable in the cases where some hypotheses hold. Key words Switched linear system, controllability. 1
Approximate Reachability Analysis of PiecewiseLinear Dynamical Systems
, 2000
"... . In this paper we describe an experimental system called d=dt for approximating reachable states for hybrid systems whose continuous dynamics is defined by linear differential equations. We use an approximation algorithm whose accumulation of errors during the continuous evolution is much small ..."
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Cited by 140 (31 self)
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smaller than in previouslyused methods. The d=dt system can, so far, treat nontrivial continuous systems, hybrid systems, convex differential inclusions and controller synthesis problems. 1 Introduction The problem of calculating reachable states for continuous and hybrid systems has emerged as one
Concurrent Reachability Games
, 2008
"... We consider concurrent twoplayer games with reachability objectives. In such games, at each round, player 1 and player 2 independently and simultaneously choose moves, and the two choices determine the next state of the game. The objective of player 1 is to reach a set of target states; the objecti ..."
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Cited by 68 (22 self)
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; the objective of player 2 is to prevent this. These are zerosum games, and the reachability objective is one of the most basic objectives: determining the set of states from which player 1 can win the game is a fundamental problem in control theory and system verification. There are three types of winning
Reachability Analysis via Face Lifting
, 1998
"... . In this paper we discuss the problem of calculating the reachable states of a dynamical system defined by ordinary differential equations or inclusions. We present a prototype system for approximating this set and demonstrate some experimental results. 1 Introduction One of the main activities in ..."
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Cited by 91 (10 self)
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in verifying a discrete system consists in finding the set of system states which are reachable, via the transition relation, from a given initial set of states (control synthesis for discreteevent systems [RW89] can ultimately be reduced to some variant of reachability analysis [AMP95b]). For small finite
On ellipsoidal techniques for reachability analysis. Part II. Internal Approximations Boxvalued constraints
, 2001
"... Following Part I, this article continues to describe the calculation of the reach sets and tubes for linear control systems with timevarying coefficients and ellipsoidal hard bounds on the controls and initial states. It deals with parametrized families of internal ellipsoidal approximations constr ..."
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Cited by 168 (8 self)
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Following Part I, this article continues to describe the calculation of the reach sets and tubes for linear control systems with timevarying coefficients and ellipsoidal hard bounds on the controls and initial states. It deals with parametrized families of internal ellipsoidal approximations
The reachabilitybound problem
 In PLDI
, 2010
"... We define the reachabilitybound problem to be the problem of finding a symbolic worstcase bound on the number of times a given control location inside a procedure is visited in terms of the inputs to that procedure. This has applications in bounding resources consumed by a program such as time, me ..."
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Cited by 43 (9 self)
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We define the reachabilitybound problem to be the problem of finding a symbolic worstcase bound on the number of times a given control location inside a procedure is visited in terms of the inputs to that procedure. This has applications in bounding resources consumed by a program such as time
Results 1  10
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1,308