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Conference Papers Year : 2007

Optimal control subsumes harmonic control

Amine Boumaza
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Bruno Scherrer


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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Dates and versions

inria-00170185 , version 1 (06-09-2007)


  • HAL Id : inria-00170185 , version 1


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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