Abstract:
This paper considers the task of computing (sub-) optimal continuous and discrete control trajectories for hybrid systems with a probabilistic discrete transition structu...Show MoreMetadata
Abstract:
This paper considers the task of computing (sub-) optimal continuous and discrete control trajectories for hybrid systems with a probabilistic discrete transition structure. The discrete inputs are used to block undesired transitions and to realize evolutions that are goal-attaining with high probability. An approach is proposed which combines the computation of discrete shortest-paths for given probability-levels with embedded continuous optimal control problems to fix the continuous controls. The result is a control strategy which leads to a system evolution that maximizes a weighted sum of performance and probability of success. The approach is illustrated for an automated transportation scenario.
Date of Conference: 23-26 August 2008
Date Added to IEEE Xplore: 19 September 2008
ISBN Information: