Optimal Motion Planning for Differentially Flat Systems Using Bernstein Approximation
Sign Up to like & getrecommendations! Published in 2018 at "IEEE Control Systems Letters"
DOI: 10.1109/lcsys.2017.2778313
Abstract: This letter presents a computational framework to efficiently generate feasible and optimal trajectories for differentially flat autonomous vehicle systems. We formulate the optimal motion planning problem as a continuous-time optimal control problem, and approximate it… read more here.
Keywords: using bernstein; differentially flat; optimal motion; motion planning ... See more keywords
NFOMP: Neural Field for Optimal Motion Planner of Differential Drive Robots With Nonholonomic Constraints
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3196886
Abstract: Optimal motion planning is one of the most critical problems in mobile robotics. On the one hand, classical sampling-based methods propose asymptotically optimal solutions to this problem. However, these planners cannot achieve smooth and short… read more here.
Keywords: based methods; optimal motion; optimization; differential drive ... See more keywords
Graph Wasserstein Autoencoder-Based Asymptotically Optimal Motion Planning With Kinematic Constraints for Robotic Manipulation
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Transactions on Automation Science and Engineering"
DOI: 10.1109/tase.2022.3146967
Abstract: This paper presents a learning based motion planning method for robotic manipulation, aiming to solve the asymptotically-optimal motion planning problem with nonlinear kinematics in a complex environment. The core of the proposed method is based… read more here.
Keywords: robotic manipulation; motion; planning; motion planning ... See more keywords
A novel motion cueing algorithm integrated multi-sensory system–Vestibular and proprioceptive system
Sign Up to like & getrecommendations! Published in 2019 at "Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics"
DOI: 10.1177/1464419319895351
Abstract: Motion cueing algorithms are used to produce a motion which feels as realistic as possible while remaining in the limited workspace of driving simulators. Several optimal motion cueing algorithms were developed to improve both the… read more here.
Keywords: motion; system; optimal motion; cueing algorithm ... See more keywords