Set-theoretic approach for autonomous tracked vehicles involved in post-disaster first relief operations

This paper addresses the problem of motion planning for an autonomous, tracked mobile robot whose mathematical model depends on uncertain parameters, with constrained moving capabilities, operating in a cluttered environment. The proposed algorithm exploits the concept of one-step ahead controllable sets. In particular, motion sequences compatible with uncertainties and nonlinear model dynamics are determined in the off-line phase with the aim to determine a collision-free path capable to accomplish the given mission. Conversely, the on-line operations are devoted to determine the most appropriate control action by solving a computationally simple optimization problem. Finally, some preliminary numerical results are instrumental to testify the effectiveness of the proposed approach.