Jimit Gandhi - Academia.edu (original) (raw)
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Papers by Jimit Gandhi
Robot interaction with dynamic environments is becoming more and more commonplace in today’s worl... more Robot interaction with dynamic environments is becoming more and more commonplace in today’s world. This paper explores a two dimensional world with an autonomous agent moving about a constant plane riddled with dynamic ghost agents. The environment is made increasingly hostile and difficult to maneuver by giving the ghost agents progressively sophisticated dynamics. Here, we present the approach adopted in modeling the environment as well as the dynamics and constraints of all the involved agents. We develop the necessary safety and efficiency conditions needed to design the controller that ensures collision avoidance between our agent and ghosts. Finally, we present a formal proof guaranteeing the safety of our agent using KeymaeraX, a theorem prover for differential dynamic logic (dL).
Robot interaction with dynamic environments is becoming more and more commonplace in today’s worl... more Robot interaction with dynamic environments is becoming more and more commonplace in today’s world. This paper explores a two dimensional world with an autonomous agent moving about a constant plane riddled with dynamic ghost agents. The environment is made increasingly hostile and difficult to maneuver by giving the ghost agents progressively sophisticated dynamics. Here, we present the approach adopted in modeling the environment as well as the dynamics and constraints of all the involved agents. We develop the necessary safety and efficiency conditions needed to design the controller that ensures collision avoidance between our agent and ghosts. Finally, we present a formal proof guaranteeing the safety of our agent using KeymaeraX, a theorem prover for differential dynamic logic (dL).
Optical Engineering, 2015
Robot interaction with dynamic environments is becoming more and more commonplace in today’s worl... more Robot interaction with dynamic environments is becoming more and more commonplace in today’s world. This paper explores a two dimensional world with an autonomous agent moving about a constant plane riddled with dynamic ghost agents. The environment is made increasingly hostile and difficult to maneuver by giving the ghost agents progressively sophisticated dynamics. Here, we present the approach adopted in modeling the environment as well as the dynamics and constraints of all the involved agents. We develop the necessary safety and efficiency conditions needed to design the controller that ensures collision avoidance between our agent and ghosts. Finally, we present a formal proof guaranteeing the safety of our agent using KeymaeraX, a theorem prover for differential dynamic logic (dL).
Robot interaction with dynamic environments is becoming more and more commonplace in today’s worl... more Robot interaction with dynamic environments is becoming more and more commonplace in today’s world. This paper explores a two dimensional world with an autonomous agent moving about a constant plane riddled with dynamic ghost agents. The environment is made increasingly hostile and difficult to maneuver by giving the ghost agents progressively sophisticated dynamics. Here, we present the approach adopted in modeling the environment as well as the dynamics and constraints of all the involved agents. We develop the necessary safety and efficiency conditions needed to design the controller that ensures collision avoidance between our agent and ghosts. Finally, we present a formal proof guaranteeing the safety of our agent using KeymaeraX, a theorem prover for differential dynamic logic (dL).
Optical Engineering, 2015