Asymptotic Optimality of a Time Optimal Path Parametrization Algorithm
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1904.04968.pdf
Description
Submitted version
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306.19 KB
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Author(s)
Spasojevic, Igor
Murali, Varun
Karaman, Sertac
Date Issued
May 2019
Journal
IEEE Control Systems Letters
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Spasojevic, Igor, Varun Murali and Sertac Karaman. “Asymptotic Optimality of a Time Optimal Path Parametrization Algorithm.” IEEE Control Systems Letters, vol. 3, no. 4, 2019, pp. 835 - 840 © 2019 The Author(s)
Version
Original manuscript
Abstract
The time optimal path parametrization problem addresses minimizing the traversal time of a specified path by an actuation constrained agent. Recently, an efficient numerical algorithm for solving this problem has been proposed. This letter theoretically establishes convergence of the former algorithm to the optimum for the whole class of problems solved optimally by computationally more demanding approaches based on convex programming. Additionally, we provide a characterization of the optimum, which may be of independent interest.
MIT Department
Massachusetts Institute of Technology. Laboratory for Information and Decision Systems
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
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Creative Commons Attribution-Noncommercial-Share Alike
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DOI of Published Version
https://doi.org/10.1109/LCSYS.2019.2919809
