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168 results on '"Lai, Jizhou"'

1. Autonomous Exploration Path Planning Method for Unmanned Aerial Vehicle Based on Flight Safety Constraint

Author

Xie, Yuying, Lyu, Pin, Lai, Jizhou, Xing, Li, Liu, Wei, Li, Zhimin, Angrisani, Leopoldo, Series Editor, Arteaga, Marco, Series Editor, Chakraborty, Samarjit, Series Editor, Chen, Shanben, Series Editor, Chen, Tan Kay, Series Editor, Dillmann, Rüdiger, Series Editor, Duan, Haibin, Series Editor, Ferrari, Gianluigi, Series Editor, Ferre, Manuel, Series Editor, Hirche, Sandra, Series Editor, Jabbari, Faryar, Series Editor, Jia, Limin, Series Editor, Kacprzyk, Janusz, Series Editor, Khamis, Alaa, Series Editor, Kroeger, Torsten, Series Editor, Li, Yong, Series Editor, Liang, Qilian, Series Editor, Martín, Ferran, Series Editor, Ming, Tan Cher, Series Editor, Minker, Wolfgang, Series Editor, Misra, Pradeep, Series Editor, Mukhopadhyay, Subhas, Series Editor, Ning, Cun-Zheng, Series Editor, Nishida, Toyoaki, Series Editor, Oneto, Luca, Series Editor, Panigrahi, Bijaya Ketan, Series Editor, Pascucci, Federica, Series Editor, Qin, Yong, Series Editor, Seng, Gan Woon, Series Editor, Speidel, Joachim, Series Editor, Veiga, Germano, Series Editor, Wu, Haitao, Series Editor, Zamboni, Walter, Series Editor, Tan, Kay Chen, Series Editor, Li, Xiaoduo, editor, Song, Xun, editor, and Zhou, Yingjiang, editor

Published
2024
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2. Calibration Method for LiDAR Cameras in Natural Dynamic Environments

Author

Hong, Sheng, Zeng, Qinghua, Li, Yineng, Sun, Xiaorong, Lai, Jizhou, Angrisani, Leopoldo, Series Editor, Arteaga, Marco, Series Editor, Chakraborty, Samarjit, Series Editor, Chen, Jiming, Series Editor, Chen, Shanben, Series Editor, Chen, Tan Kay, Series Editor, Dillmann, Rüdiger, Series Editor, Duan, Haibin, Series Editor, Ferrari, Gianluigi, Series Editor, Ferre, Manuel, Series Editor, Jabbari, Faryar, Series Editor, Jia, Limin, Series Editor, Kacprzyk, Janusz, Series Editor, Khamis, Alaa, Series Editor, Kroeger, Torsten, Series Editor, Li, Yong, Series Editor, Liang, Qilian, Series Editor, Martín, Ferran, Series Editor, Ming, Tan Cher, Series Editor, Minker, Wolfgang, Series Editor, Misra, Pradeep, Series Editor, Mukhopadhyay, Subhas, Series Editor, Ning, Cun-Zheng, Series Editor, Nishida, Toyoaki, Series Editor, Oneto, Luca, Series Editor, Panigrahi, Bijaya Ketan, Series Editor, Pascucci, Federica, Series Editor, Qin, Yong, Series Editor, Seng, Gan Woon, Series Editor, Speidel, Joachim, Series Editor, Veiga, Germano, Series Editor, Wu, Haitao, Series Editor, Zamboni, Walter, Series Editor, Zhang, Junjie James, Series Editor, Tan, Kay Chen, Series Editor, Yang, Changfeng, editor, and Xie, Jun, editor

Published
2024
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4. Smooth Q-learning: Accelerate Convergence of Q-learning Using Similarity

Author

Liao, Wei, Wei, Xiaohui, and Lai, Jizhou

Subjects
Computer Science - Artificial Intelligence
Abstract

An improvement of Q-learning is proposed in this paper. It is different from classic Q-learning in that the similarity between different states and actions is considered in the proposed method. During the training, a new updating mechanism is used, in which the Q value of the similar state-action pairs are updated synchronously. The proposed method can be used in combination with both tabular Q-learning function and deep Q-learning. And the results of numerical examples illustrate that compared to the classic Q-learning, the proposed method has a significantly better performance.

Published
2021

5. A Novel Unified Framework for Solving Reachability, Viability and Invariance Problems

Author

Liao, Wei, Liang, Taotao, Wei, Xiaohui, and Lai, Jizhou

Subjects
Electrical Engineering and Systems Science - Systems and Control
Abstract

The level set method is a widely used tool for solving reachability and invariance problems. However, some shortcomings, such as the difficulties of handling dissipation function and constructing terminal conditions for solving the Hamilton-Jacobi partial differential equation, limit the application of the level set method in some problems with non-affine nonlinear systems and irregular target sets. This paper proposes a method that can effectively avoid the above tricky issues and thus has better generality. In the proposed method, the reachable or invariant sets with different time horizons are characterized by some non-zero sublevel sets of a value function. This value function is not obtained by solving a viscosity solution of the partial differential equation but by recursion and interpolation approximation. At the end of this paper, some examples are taken to illustrate the accuracy and generality of the proposed method., Comment: arXiv admin note: text overlap with arXiv:2101.09646

Published
2021

6. Coordinated Multi-robot Exploration Method Based on GBPlanner in Subterranean Environments

Author

Bian, Yinlei, Yuan, Cheng, Lyu, Pin, Lai, Jizhou, Angrisani, Leopoldo, Series Editor, Arteaga, Marco, Series Editor, Panigrahi, Bijaya Ketan, Series Editor, Chakraborty, Samarjit, Series Editor, Chen, Jiming, Series Editor, Chen, Shanben, Series Editor, Chen, Tan Kay, Series Editor, Dillmann, Rüdiger, Series Editor, Duan, Haibin, Series Editor, Ferrari, Gianluigi, Series Editor, Ferre, Manuel, Series Editor, Hirche, Sandra, Series Editor, Jabbari, Faryar, Series Editor, Jia, Limin, Series Editor, Kacprzyk, Janusz, Series Editor, Khamis, Alaa, Series Editor, Kroeger, Torsten, Series Editor, Li, Yong, Series Editor, Liang, Qilian, Series Editor, Martín, Ferran, Series Editor, Ming, Tan Cher, Series Editor, Minker, Wolfgang, Series Editor, Misra, Pradeep, Series Editor, Möller, Sebastian, Series Editor, Mukhopadhyay, Subhas, Series Editor, Ning, Cun-Zheng, Series Editor, Nishida, Toyoaki, Series Editor, Oneto, Luca, Series Editor, Pascucci, Federica, Series Editor, Qin, Yong, Series Editor, Seng, Gan Woon, Series Editor, Speidel, Joachim, Series Editor, Veiga, Germano, Series Editor, Wu, Haitao, Series Editor, Zamboni, Walter, Series Editor, Zhang, Junjie James, Series Editor, Yan, Liang, editor, and Deng, Yimin, editor

Published
2023
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7. Adaptive Estimation of Measurement Noise Variance in Kinematic Precise Point Positioning

Author

Zhang, Qieqie, Lai, Jizhou, Lv, Pin, Angrisani, Leopoldo, Series Editor, Arteaga, Marco, Series Editor, Panigrahi, Bijaya Ketan, Series Editor, Chakraborty, Samarjit, Series Editor, Chen, Jiming, Series Editor, Chen, Shanben, Series Editor, Chen, Tan Kay, Series Editor, Dillmann, Rüdiger, Series Editor, Duan, Haibin, Series Editor, Ferrari, Gianluigi, Series Editor, Ferre, Manuel, Series Editor, Hirche, Sandra, Series Editor, Jabbari, Faryar, Series Editor, Jia, Limin, Series Editor, Kacprzyk, Janusz, Series Editor, Khamis, Alaa, Series Editor, Kroeger, Torsten, Series Editor, Li, Yong, Series Editor, Liang, Qilian, Series Editor, Martín, Ferran, Series Editor, Ming, Tan Cher, Series Editor, Minker, Wolfgang, Series Editor, Misra, Pradeep, Series Editor, Möller, Sebastian, Series Editor, Mukhopadhyay, Subhas, Series Editor, Ning, Cun-Zheng, Series Editor, Nishida, Toyoaki, Series Editor, Oneto, Luca, Series Editor, Pascucci, Federica, Series Editor, Qin, Yong, Series Editor, Seng, Gan Woon, Series Editor, Speidel, Joachim, Series Editor, Veiga, Germano, Series Editor, Wu, Haitao, Series Editor, Zamboni, Walter, Series Editor, Zhang, Junjie James, Series Editor, Yan, Liang, editor, and Deng, Yimin, editor

Published
2023
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8. Exploration Method Considering Received Signal Strength of Communication

Author

Li, Xuanang, Lai, Jizhou, Lyu, Pin, Fang, Wei, Angrisani, Leopoldo, Series Editor, Arteaga, Marco, Series Editor, Panigrahi, Bijaya Ketan, Series Editor, Chakraborty, Samarjit, Series Editor, Chen, Jiming, Series Editor, Chen, Shanben, Series Editor, Chen, Tan Kay, Series Editor, Dillmann, Rüdiger, Series Editor, Duan, Haibin, Series Editor, Ferrari, Gianluigi, Series Editor, Ferre, Manuel, Series Editor, Hirche, Sandra, Series Editor, Jabbari, Faryar, Series Editor, Jia, Limin, Series Editor, Kacprzyk, Janusz, Series Editor, Khamis, Alaa, Series Editor, Kroeger, Torsten, Series Editor, Li, Yong, Series Editor, Liang, Qilian, Series Editor, Martín, Ferran, Series Editor, Ming, Tan Cher, Series Editor, Minker, Wolfgang, Series Editor, Misra, Pradeep, Series Editor, Möller, Sebastian, Series Editor, Mukhopadhyay, Subhas, Series Editor, Ning, Cun-Zheng, Series Editor, Nishida, Toyoaki, Series Editor, Oneto, Luca, Series Editor, Pascucci, Federica, Series Editor, Qin, Yong, Series Editor, Seng, Gan Woon, Series Editor, Speidel, Joachim, Series Editor, Veiga, Germano, Series Editor, Wu, Haitao, Series Editor, Zamboni, Walter, Series Editor, Zhang, Junjie James, Series Editor, Yan, Liang, editor, and Deng, Yimin, editor

Published
2023
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9. Relative/AbSwectsolute Altitude Fusion Technology Oriented to the Complex Environment of Plateau Airports

Author

Qu, Xiaowei, Dai, Yuting, Li, Zhimin, Lyu, Pin, Lai, Jizhou, Angrisani, Leopoldo, Series Editor, Arteaga, Marco, Series Editor, Panigrahi, Bijaya Ketan, Series Editor, Chakraborty, Samarjit, Series Editor, Chen, Jiming, Series Editor, Chen, Shanben, Series Editor, Chen, Tan Kay, Series Editor, Dillmann, Rüdiger, Series Editor, Duan, Haibin, Series Editor, Ferrari, Gianluigi, Series Editor, Ferre, Manuel, Series Editor, Hirche, Sandra, Series Editor, Jabbari, Faryar, Series Editor, Jia, Limin, Series Editor, Kacprzyk, Janusz, Series Editor, Khamis, Alaa, Series Editor, Kroeger, Torsten, Series Editor, Li, Yong, Series Editor, Liang, Qilian, Series Editor, Martín, Ferran, Series Editor, Ming, Tan Cher, Series Editor, Minker, Wolfgang, Series Editor, Misra, Pradeep, Series Editor, Möller, Sebastian, Series Editor, Mukhopadhyay, Subhas, Series Editor, Ning, Cun-Zheng, Series Editor, Nishida, Toyoaki, Series Editor, Oneto, Luca, Series Editor, Pascucci, Federica, Series Editor, Qin, Yong, Series Editor, Seng, Gan Woon, Series Editor, Speidel, Joachim, Series Editor, Veiga, Germano, Series Editor, Wu, Haitao, Series Editor, Zamboni, Walter, Series Editor, Zhang, Junjie James, Series Editor, Yan, Liang, editor, and Deng, Yimin, editor

Published
2023
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10. Recursive Regret Matching: A General Method for Solving Time-invariant Nonlinear Zero-sum Differential Games

Author

Liao, Wei, Wei, Xiaohui, and Lai, Jizhou

Subjects
Electrical Engineering and Systems Science - Systems and Control
Abstract

In this paper, a new method is proposed to compute the rolling Nash equilibrium of the time-invariant nonlinear two-person zero-sum differential games. The idea is to discretize the time to transform a differential game into a sequential game with several steps, and by introducing state-value function, transform the sequential game into a recursion consisting of several normal-form games, finally, each normal-form game is solved with action abstraction and regret matching. To improve the real-time property of the proposed method, the state-value function can be kept in memory. This method can deal with the situations that the saddle point exists or does not exist, and the analysises of the existence of the saddle point can be avoided. If the saddle point does not exist, the mixed optimal control pair can be obtained. At the end of this paper, some examples are taken to illustrate the validity of the proposed method., Comment: 18 pages, 9 figures

Published
2020

11. An Improved RAIM Algorithm for Multiple Satellite Faults Detection and Exclusion

Author

Wang, Mengchen, Li, Zhimin, Lai, Jizhou, Lv, Pin, Huang, Kai, Angrisani, Leopoldo, Series Editor, Arteaga, Marco, Series Editor, Panigrahi, Bijaya Ketan, Series Editor, Chakraborty, Samarjit, Series Editor, Chen, Jiming, Series Editor, Chen, Shanben, Series Editor, Chen, Tan Kay, Series Editor, Dillmann, Rüdiger, Series Editor, Duan, Haibin, Series Editor, Ferrari, Gianluigi, Series Editor, Ferre, Manuel, Series Editor, Hirche, Sandra, Series Editor, Jabbari, Faryar, Series Editor, Jia, Limin, Series Editor, Kacprzyk, Janusz, Series Editor, Khamis, Alaa, Series Editor, Kroeger, Torsten, Series Editor, Liang, Qilian, Series Editor, Martín, Ferran, Series Editor, Ming, Tan Cher, Series Editor, Minker, Wolfgang, Series Editor, Misra, Pradeep, Series Editor, Möller, Sebastian, Series Editor, Mukhopadhyay, Subhas, Series Editor, Ning, Cun-Zheng, Series Editor, Nishida, Toyoaki, Series Editor, Pascucci, Federica, Series Editor, Qin, Yong, Series Editor, Seng, Gan Woon, Series Editor, Speidel, Joachim, Series Editor, Veiga, Germano, Series Editor, Wu, Haitao, Series Editor, Zhang, Junjie James, Series Editor, Yan, Liang, editor, and Yu, Xiang, editor

Published
2022
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12. Multi-vehicle Collaborative Navigation Method Based on Datalink Relative Distance in GNSS Denied Environment

Author

Zhou, Zihan, Lyu, Pin, Lai, Jizhou, Zhu, Xudong, Huang, Kai, Angrisani, Leopoldo, Series Editor, Arteaga, Marco, Series Editor, Panigrahi, Bijaya Ketan, Series Editor, Chakraborty, Samarjit, Series Editor, Chen, Jiming, Series Editor, Chen, Shanben, Series Editor, Chen, Tan Kay, Series Editor, Dillmann, Rüdiger, Series Editor, Duan, Haibin, Series Editor, Ferrari, Gianluigi, Series Editor, Ferre, Manuel, Series Editor, Hirche, Sandra, Series Editor, Jabbari, Faryar, Series Editor, Jia, Limin, Series Editor, Kacprzyk, Janusz, Series Editor, Khamis, Alaa, Series Editor, Kroeger, Torsten, Series Editor, Liang, Qilian, Series Editor, Martín, Ferran, Series Editor, Ming, Tan Cher, Series Editor, Minker, Wolfgang, Series Editor, Misra, Pradeep, Series Editor, Möller, Sebastian, Series Editor, Mukhopadhyay, Subhas, Series Editor, Ning, Cun-Zheng, Series Editor, Nishida, Toyoaki, Series Editor, Pascucci, Federica, Series Editor, Qin, Yong, Series Editor, Seng, Gan Woon, Series Editor, Speidel, Joachim, Series Editor, Veiga, Germano, Series Editor, Wu, Haitao, Series Editor, Zhang, Junjie James, Series Editor, Yan, Liang, editor, and Yu, Xiang, editor

Published
2022
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13. LiDAR-Based Autonomous Exploration Using Local and Global RRT for MAV

Author

Zou, Bingqian, Lai, Jizhou, Lyu, Pin, Fang, Wei, Angrisani, Leopoldo, Series Editor, Arteaga, Marco, Series Editor, Panigrahi, Bijaya Ketan, Series Editor, Chakraborty, Samarjit, Series Editor, Chen, Jiming, Series Editor, Chen, Shanben, Series Editor, Chen, Tan Kay, Series Editor, Dillmann, Rüdiger, Series Editor, Duan, Haibin, Series Editor, Ferrari, Gianluigi, Series Editor, Ferre, Manuel, Series Editor, Hirche, Sandra, Series Editor, Jabbari, Faryar, Series Editor, Jia, Limin, Series Editor, Kacprzyk, Janusz, Series Editor, Khamis, Alaa, Series Editor, Kroeger, Torsten, Series Editor, Liang, Qilian, Series Editor, Martín, Ferran, Series Editor, Ming, Tan Cher, Series Editor, Minker, Wolfgang, Series Editor, Misra, Pradeep, Series Editor, Möller, Sebastian, Series Editor, Mukhopadhyay, Subhas, Series Editor, Ning, Cun-Zheng, Series Editor, Nishida, Toyoaki, Series Editor, Pascucci, Federica, Series Editor, Qin, Yong, Series Editor, Seng, Gan Woon, Series Editor, Speidel, Joachim, Series Editor, Veiga, Germano, Series Editor, Wu, Haitao, Series Editor, Zhang, Junjie James, Series Editor, Yan, Liang, editor, and Yu, Xiang, editor

Published
2022
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14. Fault-Tolerant Navigation Method Aided by Dynamics Model of Quadrotors Based on Federated Unscented Kalman Filter on Lie Group Manifold

Author

Sun, Xin, Lai, Jizhou, Lyu, Pin, Tian, Haoxin, and Shen, Yugui

Abstract

In previous navigation positioning methods, a micro inertial measurement unit (MIMU) provides navigation information by measuring the linear acceleration and angular velocity of the quadrotors. However, low-cost MIMU often fails in harsh environments and produces large misalignment angles during initial alignment, reducing the navigation performance of quadrotors. Therefore, this article introduces the dynamics model of quadrotors, integrating the roll and pitch moment model, torque model, drag model, thrust model, XYZ-axis gyroscope, XYZ-axis accelerometer, and global navigation satellite system (GNSS) to form an MIMU fault-tolerant federated Kalman filter based on analytical redundancy. Meanwhile, this article introduces the Lie group manifold theory into the unscented Kalman filter (UKF) to improve the attitude estimation accuracy under large misalignment angles and reduce the influence of attitude errors on velocity and position. The proposed federated UKF on the Lie group manifold can accurately estimate navigation parameters when MIMU fails. Real flight experiment data were used for verification, showing that faults in the XYZ-axis gyroscope, XYZ-axis accelerometer, and dynamics model of quadrotors can be detected and isolated. When there are no faults, the attitude, velocity, and position accuracy of the quadrotor after introducing the dynamics model are increased by more than 5.5%, 3.1%, and 10.7%, respectively. The estimation accuracy of roll, pitch, and yaw increased by more than 88.1%, 68.9%, and 66.4%, respectively, under large misalignment angles.

Published
2024
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20. Adaptive Navigation Performance Evaluation Method for Civil Aircraft Navigation Systems with Unknown Time-Varying Sensor Noise.

Author

Dai, Yuting, Lai, Jizhou, Zhang, Qieqie, Li, Zhimin, and Liu, Rui

Subjects
*COVARIANCE matrices, *TIME-varying systems, *PROBLEM solving, *EVALUATION methodology, *NAVIGATION
Abstract

During civil aviation flights, the aircraft needs to accurately monitor the real-time navigation capability and determine whether the onboard navigation system performance meets the required navigation performance (RNP). The airborne flight management system (FMS) uses actual navigation performance (ANP) to quantitatively calculate the uncertainty of aircraft position estimation, and its evaluation accuracy is highly dependent on the position estimation covariance matrix (PECM) provided by the airborne integrated navigation system. This paper proposed an adaptive PECM estimation method based on variational Bayes (VB) to solve the problem of ANP misevaluation, which is caused by the traditional simple ANP model failing to accurately estimate PECM under unknown time-varying noise. Combined with the 3D ANP model proposed in this paper, the accuracy of ANP evaluation can be significantly improved. This enhancement contributes to ensured navigation integrity and operational safety during civil flight. [ABSTRACT FROM AUTHOR]

Published
2024
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31. Performance Enhancement of Tightly Coupled GNSS/IMU Integration Based on Factor Graph With Robust TDCP Loop Closure

Author

Bai, Shiyu, Lai, Jizhou, Lyu, Pin, Cen, Yiting, Sun, Xin, and Wang, Bingqing

Abstract

To autonomous systems (ASs) equipped with single-frequency GNSS chipsets, it is hard to fully use the high-precision carrier phase to assist positioning as the inherent integer ambiguity cannot be reliably obtained using only single-frequency observations, especially in obstructed environments. Although the time difference can be done to eliminate the integer ambiguity to form accurate constraint in graph based fusion, cycle slip is not properly handled in current methods, leading to degraded performance. In this paper, a performance enhancement of tightly coupled GNSS/IMU integration based on factor graph with robust time-differenced carrier phase (TDCP) loop closure is proposed. Different from traditional methods, cycle slip detection is firstly performed, and the effect of cycle slip can be eliminated in the formation of loop closure, which can bring about better robustness. Doppler frequency shift is used to detect cycle slip and carrier phase measurements at corresponding epochs are then selected to build TDCP loop closure. The proposed robust TDCP loop closure is fused with pseudorange, Doppler frequency shift and IMU via factor graph, which can make the full use of the absolute and relative measurements to enhance the performance of tightly coupled GNSS/IMU integration. Simulation and field tests are conducted to validate the proposed method. The results show that the proposed method can improve the positioning performance with robust TDCP loop closure. Meanwhile, the computational load of proposed method is discussed.

Published
2024
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32. Visual Heading-Aided Pedestrian Navigation Method Based on Factor Graph in Indoor Environment

Author

Yuan, Cheng, Lai, Jizhou, Lyu, Pin, Wang, Tao, and Zhu, Jingyi

Abstract

The main error in traditional inertial pedestrian navigation is caused by unobservable heading errors with only zero velocity constraints. In this article, a human posture model-aided optimized fusion framework based on dominant events for pedestrian navigation is proposed to precisely locate pedestrians. Optimization is performed only at the moment of dominant events to reduce computational effort and improve the robustness. This model can fit the preferred heading information between two dominant events for fusion to improve accuracy. The optimization-based framework can also reduce the nonlinear error by relinearizing the state and associating constraints to the historical state to estimate the biases better. Besides, a hybrid visual heading angle estimation method is proposed by leveraging the Manhattan world hypothesis to obtain a drift-free heading angle with a monocular camera. The hypothesis is searched in the designated region based on histogram quality assessment that can improve the robustness and significantly reduce the computational amount. With low-cost devices, the multiple indoor experiments show that the proposed method can achieve 0.11% positioning accuracy comparable to traditional algorithms, which require numerous conditions to be met in good environments, and achieving over 70% improvement in accuracy over traditional methods in complex environments.

Published
2024
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42. A novel unified framework for solving reachability and invariance problems.

Author

Liao, Wei, Liang, Taotao, Wei, Xiaohui, and Lai, Jizhou

Subjects
LEVEL set methods, PARTIAL differential equations, VISCOSITY solutions, INVARIANT sets, HAMILTON-Jacobi equations, TIME perspective
Abstract

The level set method is a widely used tool for solving reachability and invariance problems. However, some shortcomings, such as large amount of storage space consumption and the difficulty of constructing terminal conditions for solving the Hamilton–Jacobi partial differential equation, limit the application of the level set method in some problems, especially those with irregular target sets. This paper proposes a method that can effectively avoid the above tricky issues and thus has better generality. In the proposed method, the reachable or invariant sets with different time horizons are characterised by some non-zero sublevel sets of a value function. This value function is not obtained by solving a viscosity solution of the partial differential equation but by recursion and interpolation approximation. At the end of this paper, some examples are taken to illustrate the accuracy and generality of the proposed method. [ABSTRACT FROM AUTHOR]

Published
2023
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48. Reachability problem considering running cost.

Author

Liao, Wei, Wei, Xiaohui, and Lai, Jizhou

Subjects
TIME perspective, SET functions, COST
Abstract

In this paper, we generalize the definition of reachable set. The classic definition of reachable set is a set of system states that can be driven into the target set within a given time horizon. Sometimes, the concern of researchers is not the time consumption but some other form of cost of driving the system state toward the target set. Under this background, the definition of cost‐limited reachable set is put forward in this paper. In this definition, the cost is the time integral of some form of running cost, and the running cost can be a function of system state and control input. By introducing a value function, a method to compute the cost‐limited reachable sets is proposed. In this method, the value function is approximated using recursion and interpolation. Then the cost‐limited reachable sets can be characterized by a family of level sets of the value function. At the end of this paper, some examples are taken to illustrate the validity and accuracy of the proposed method. [ABSTRACT FROM AUTHOR]

Published
2022
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