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inria-00119243, version 1

Optimal control subsumes harmonic control

Amine Boumaza () 1, Bruno Scherrer () a, 1

(2006)

Abstract: We consider trajectory planning within the frameworks of optimal control and harmonic control. We present a formal evidence, in continuous domain and in a standard discretization, that harmonic control is the limit case of a some optimal control problem in which we make the noise level tend to infinity. In other words we show that optimal control subsumes harmonic control. We discuss properties of both paradigms and present simulations that illustrate this relationship.

  • a –  INRIA
  • 1:  MAIA (INRIA Lorraine - LORIA)
  • INRIA – CNRS : UMR7503 – Université Henri Poincaré - Nancy I – Université Nancy II – Institut National Polytechnique de Lorraine (INPL)
  • Domain : Computer Science/Robotics
    Computer Science/Artificial Intelligence
 
  • inria-00119243, version 1
  • http://hal.inria.fr/inria-00119243
  • oai:hal.inria.fr:inria-00119243
  • From: Bruno Scherrer <>
  • Submitted on: Friday, 8 December 2006 11:34:04
  • Updated on: Monday, 10 December 2007 14:24:25