• Obstacle Avoidance for Mobile Robots Using Switching Surface Optimization 

      Boccadoro, Mauro; Egerstedt, Magnus B.; Wardi, Yorai (Georgia Institute of TechnologyInternational Federation of Automatic Control, 2005-07)
      This paper studies the problem of letting an autonomous mobile robot negotiate obstacles in an optimal manner. In particular, a multi-modal control problem is addressed, where different modes of operation control the ...