InforLorV4, Main, Merge, bibRecord, 004B07

Optimal control subsumes harmonic control

Identifieur interne : 004B07 ( Main/Merge ); précédent : 004B06; suivant : 004B08

Optimal control subsumes harmonic control

Auteurs : Amine Boumaza [France] ; Bruno Scherrer [France]

Source :

RBID : Hal:inria-00170185

Abstract

We consider trajectory planning within the frameworks of optimal control and harmonic control. We present a formal evidence, in continuous domain and in a standard discretization, that harmonic control is the limit case of a some optimal control problem in which we make the noise level tend to infinity. In other words we show that optimal control subsumes harmonic control. We discuss properties of both paradigms and present simulations that illustrate this relationship.

Url:

https://hal.inria.fr/inria-00170185

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to stream Hal, to step Corpus: 005493
to stream Hal, to step Curation: 005493
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Hal:inria-00170185

Le document en format XML

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<front><div type="abstract" xml:lang="en">We consider trajectory planning within the frameworks of optimal control and harmonic control. We present a formal evidence, in continuous domain and in a standard discretization, that harmonic control is the limit case of a some optimal control problem in which we make the noise level tend to infinity. In other words we show that optimal control subsumes harmonic control. We discuss properties of both paradigms and present simulations that illustrate this relationship.</div>
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Optimal control subsumes harmonic control

Optimal control subsumes harmonic control

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