Optimal control subsumes harmonic control

Amine Boumaza 1 Bruno Scherrer 1
1 MAIA - Autonomous intelligent machine
INRIA Lorraine, LORIA - Laboratoire Lorrain de Recherche en Informatique et ses Applications
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.
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Amine Boumaza, Bruno Scherrer. Optimal control subsumes harmonic control. IEEE International Conference on Robotics and Automation - ICRA 07, Apr 2007, Rome, Italy. pp.2841-2846. ⟨inria-00170185⟩

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