Fast marching for hybrid control

Abstract

This paper describes an approach to solving optimal hybrid control problems using level set methods. Level set methods are a powerful set of techniques for generating equipotential contours with applications in the realm of fluid mechanics, computer vision, material science, robotics and geometry. This paper specifically deals with the problem of determining an optimal control path in a hybrid system by extending a particular level set algorithm, known as the "fast marching" method, to a hybrid setting. Several representative examples are solved.