How to Park a Car Blindfolded

Guilherme Scabin Vicinansa, Daniel Liberzon

Research output: Contribution to journalConference article

Abstract

In this paper, we present an algorithm that achieves global asymptotic stability for a broad class of driftless nonholonomic systems using limited data rate. Moreover, we prove in a constructive way that the minimum data-rate for this class of systems is zero, hence providing a data-rate theorem, which was an open problem in the literature Li and Baillieul (2004). Finally, we present the Dubin's car as an example of system in such a class.

Original languageEnglish (US)
Pages (from-to)211-216
Number of pages6
JournalIFAC-PapersOnLine
Volume52
Issue number20
DOIs
StatePublished - Jan 1 2019
Event8th IFAC Workshop on Distributed Estimation and Control in Networked Systems, NECSYS 2019 - Chicago, United States
Duration: Sep 16 2019Sep 17 2019

Keywords

  • Control under communication constraints

ASJC Scopus subject areas

  • Control and Systems Engineering

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