@article{MILLERFM20211ADHS,
title = {Planning in Dynamic and Partially Unknown Environments},
journal = {IFAC-PapersOnLine},
volume = {54},
number = {5},
pages = {169-174},
year = {2021},
note = {7th IFAC Conference on Analysis and Design of Hybrid Systems ADHS 2021},
issn = {2405-8963},
doi = {https://doi.org/10.1016/j.ifacol.2021.08.493},
url = {https://www.sciencedirect.com/science/article/pii/S2405896321012684},
author = {Kristina Miller and Chuchu Fan and Sayan Mitra},
keywords = {control synthesis, switched systems, cyberphysical systems, verification, autonomy},
abstract = {Motion planning in dynamic and partially unknown environments is a difficult problem requiring both perception and control components. We propose a solution to the control component while cleanly abstracting perception. We show that this clean abstraction can be used to synthesize verifiably safe reference trajectories using a combination of reachability analysis and Mixed Integer Linear Programming. Experiments with a prototype implementation of this algorithm show promise as it has subsecond synthesis performance for nonlinear vehicle models in scenarios with hundred plus obstacles on standard hardware.}
}