Motion Planning for Multi-Agent Systems Using Gevrey Trajectories Based on Burgers' Viscous Equation

Abstract : The differential flatness of the one-dimensional heat equation controlled at each boundary is used to propose, through the Hopf-Cole transform, a finite-time motion planning for multi-agent systems. The proposed paths, which are solutions of Burgers' viscous equation, are smooth while non analytical in initial and final equilibria. The paths may respect various geometrical constraints allowing them to be used for different purposes.
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Etienne Servais, Brigitte Andrea-Novel, Hugues Mounier. Motion Planning for Multi-Agent Systems Using Gevrey Trajectories Based on Burgers' Viscous Equation. 19th IFAC World Congress on International Federation of Automatic Control (IFAC 2014), IFAC, Aug 2014, Cape Town, South Africa. ⟨hal-01100841⟩

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