Reduction in optimal control with broken symmetry for collision and obstacle avoidance of multi-agent system on Lie groups.
Efstratios StratoglouAlexandre Anahory SimoesLeonardo J. ColomboPublished in: CoRR (2022)
Keyphrases
- optimal control
- obstacle avoidance
- lie group
- mobile robot
- path planning
- dynamic programming
- motion planning
- infinite horizon
- infinite dimensional
- control strategy
- vector space
- euclidean space
- vector field
- geometric structure
- riemannian manifolds
- reinforcement learning
- fuzzy logic controller
- real time
- degrees of freedom
- input output