Motion planning via optimal control

Ivan Beschastnyi (Universidade de Aveiro)

Lundi 16 janvier, 14h, salle Coriolis (Galois).

Abstract. Given a control system, a motion mapping algorithm is a map that to two states assigns a unique control, which steers the system from one state to another. One way to construct such algorithms is through optimal synthesis. In this talk I will review the relevant techniques and discuss the motion planning of a spherical robot as an example.