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Optimal control subsumes harmonic control

descriptionPublicationkeyboard_double_arrow_right Article , Conference object , External research report 01 Apr 2007 France Publisher:IEEEJournal:Proceedings 2007 IEEE International Conference on Robotics and Automation (issn: 1050-4729, Copyright policy )
Authors: Boumaza, Amine; Scherrer, Bruno;

doi: 10.1109/robot.2007.363902

Optimal control subsumes harmonic control

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.

Country
France
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Keywords

[INFO.INFO-AI] Computer Science [cs]/Artificial Intelligence [cs.AI], [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO]

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citations
This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Citations provided by BIP!
popularity
This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network.
BIP!Popularity provided by BIP!
influence
This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Influence provided by BIP!
impulse
This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.
BIP!Impulse provided by BIP!
1
Average
Average
Average
Green
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