In this paper, we formulate a control-minimal time-assigned path-constrained trajectory optimization problem: a mobile ground robot must traverse a given path ...
Jun 2, 2023 · Numerical integration and convex optimization methods are particularly useful when performing time- or energy-optimal planning for robotic arms.
This paper forms a control-minimal time-assigned path-constrained trajectory optimization problem: a mobile ground robot must traverse a given path in a ...
In this paper, a novel real-time acceleration-continuous path-constrained trajectory planning algorithm is proposed with an appealing built-in tradability ...
This paper is an introductory tutorial for numerical trajectory optimization with a focus on direct collocation methods.
Oct 1, 2023 · Control-Minimal Time-Assigned Path-Constrained Trajectory Optimization. Adam Morrissett, Patrick J. Martin. 2023, American Control Conference.
Path-constrained trajectory optimization research normally focuses on time or energy optimality. However, some applications seek reference trajectorie...... 小 ...
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What are the direct methods for trajectory optimization?
In this chapter we will instead attempt to find an optimal control solution that is valid from only a single initial condition.
May 25, 2024 · This study presents a novel framework that integrates the universal jamming gripper (UG) with unmanned aerial vehicles (UAVs) to enable automated grasping.
Jul 14, 2020 · In many mobile robotics scenarios, such as drone racing, the goal is to generate a trajectory that passes through multiple waypoints in ...
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