A path planning technique is presented which produces time-optimal manipulator motions in
a workspace containing obstacles. The full nonlinear equations of motion are used in …

This paper presents a new method which significantly improves the computational efficiency
of time-optimal path-following planning algorithms for robot manipulators with limited …

In this paper we investigate the problem of optimising the speed of a vehicle over a fixed
path for minimum time traversal. We utilise a change of variables that has been known since …

This paper considers a shortcutting heuristic to smooth jerky trajectories for many-DOF robot
manipulators subject to collision constraints, velocity bounds, and acceleration bounds. The …

In this article, we examine the solution of minimum-effort optimal control problems for open-
chain manipulators. An approximate Solution to the optimal control problem is determined …

A method is presented to obtain the time-optimal motions for robotic manipulators. It
considers the full nonlinear dy namics of the manipulator, its actuator saturation limits, and …

Addresses challenging aspects of robotics research, including the dynamics of robots with
elastic parts and optimal control of manipulators. Basics in kinematics, dynamics, drives, and …

Trajectory planning for autonomous vehicles (AVs) by considering conflicting moving objects
(CMOs) is a challenging problem to AV operations. This paper investigates an AV trajectory …

An optimal control problem to find the fastest collision-free trajectory of a robot surrounded
by obstacles is presented. The collision avoidance is based on linear programming …

The high-speed motions of mobile manipulators can dynamically disturb their vehicles, even
to the point where they can cause a vehicle to tip over. A planning method is presented …