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2篇 您的检索式：作者名="Greg Droge"

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		题名	作者	年代	出处	被引量
	1	Dual-mode dynamic window approach to robot navigation with convergence guarantees显示文摘In this paper,a novel,dual-mode model predictive control framework is introduced that combines the dynamic window approach to navigation with generic path planning techniques through a dual-mode model predictive control framework.The planned path adds information on the connectivity of the free space to the obstacle avoidance capabilities of the dynamic window approach.This allows for guaranteed convergence to a goal location while navigating through an unknown environment at relatively high speeds.The framework is applied in a combined simulation/hardware implementation to demonstrate the computational feasibility and the ability to cope with the constraints of a dynamic system.	Greg Droge	2021	Journal of Control and Decision2021，8，2：	5
	2	Continuous-time proportional-integral distributed optimisation for networked systems显示文摘In this paper,we explore the relationship between dual decomposition and the consensusbased method for distributed optimisation.The relationship is developed by examining the similarities between the two approaches and their relationship to gradient-based constrained optimisation.By formulating each algorithm in continuous-time,it is seen that both approaches use a gradient method for optimisation with one using a proportional control term and the other using an integral control term to drive the system to the constraint set.Therefore,a significant contribution of this paper is to combine these methods to develop a continuous-time proportional-integral distributed optimisation method.Furthermore,we establish convergence using Lyapunov stability techniques and utilising properties from the network structure of the multi-agent system.	Greg Droge Hiroaki Kawashima Magnus B.Egerstedt	2014	Journal of Control and Decision2014，1，3：	3

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