Abstract
Decomposing complex, highly nonlinear systems into aggregates of simpler hybrid modes has proven to be a very successful way of designing and controlling autonomous vehicles. Examples include the use of motion primitives for robotic motion planning and equivalently the use of discrete maneuvers for aggressive aircraft trajectory planning. In all of these approaches, it is extremely important to verify that transitions between modes are safe. In this paper, we present the use of a Hamilton-Jacobi differential game formulation for finding continuous reachable sets as a method of generating provably safe transitions through a sequence of modes for a quadrotor performing a backflip maneuver.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Burridge, R., Rizzi, A., Koditschek, D.: Sequential composition of dynamically dexterous robot behaviors. International Journal of Robotics Research 18(6), 534–555 (1999)
Ding, J., Sprinkle, J., Sastry, S.S., Tomlin, C.J.: Reachability calculations for automated aerial refueling. In: Proceedings of the 47th IEEE Conference on Decision and Control, Cancun, Mexico (2008)
Frazzoli, E., Dahleh, M.A., Feron, E.: Maneuver-based motion planning for nonlinear systems with symmetries. IEEE Transactions on Robotics 21(6), 1077–1091 (2005)
Hoffmann, G.M., Huang, H., Waslander, S.L., Tomlin, C.J.: Quadrotor helicopter flight dynamics and control: Theory and experiment. In: Proceedings of the AIAA Guidance, Navigation, and Control Conference and Exhibit, Hilton Head, SC (2007)
Kress-Gazit, H., Fainekos, G.E., Pappas, G.J.: Translating structured english to robot controllers. In: Advanced Robotics Special Issue on Selected Papers from IROS 2007, vol. 22(12), pp. 1343–1359 (2008)
Mitchell, I.M., Bayen, A.M., Tomlin, C.J.: A time-dependent hamilton-jacobi formulation of reachable sets for continuous dynamic games. IEEE Transactions on Automatic Control 50(7), 947–957 (2005)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2011 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Gillula, J.H., Huang, H., Vitus, M.P., Tomlin, C.J. (2011). Design and Analysis of Hybrid Systems, with Applications to Robotic Aerial Vehicles. In: Pradalier, C., Siegwart, R., Hirzinger, G. (eds) Robotics Research. Springer Tracts in Advanced Robotics, vol 70. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-19457-3_9
Download citation
DOI: https://doi.org/10.1007/978-3-642-19457-3_9
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-19456-6
Online ISBN: 978-3-642-19457-3
eBook Packages: EngineeringEngineering (R0)