BookDOI
Robot Motion Planning and Control
Jean-Paul Laumond
- Iss: 229
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TLDR
Guidelines in nonholonomic motion planning for mobile robots and collision detection algorithms for motion planning are presented.Abstract:
Guidelines in nonholonomic motion planning for mobile robots.- Geometry of nonholonomic systems.- Optimal trajectories for nonholonomic mobile robots.- Feedback control of a nonholonomic car-like robot.- Probabilistic path planning.- Collision detection algorithms for motion planning.read more
Citations
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Proceedings ArticleDOI
A hybrid control framework for robust maneuver-based motion planning
TL;DR: A modeling framework for robustness of maneuver-based motion planning algorithms for nonlinear systems with symmetries and implements a hybrid controller that robustly combines motion primitives, which consist of trim trajectories and maneuvers, from a predefined library.
Book
Algorithms for the Satisfiability Problem
TL;DR: An instance of the satisfiability (SAT) problem is a Boolean formula that has three components: A set of n variables, a set of literals, and a setOf literals combined by just logical or (V) connectives.
Book ChapterDOI
Homicidal Chauffeur Game: History and Modern Studies
Valerii S. Patsko,Varvara Turova +1 more
TL;DR: A survey of publications on the homicidal chauffeur problem and its modifications can be found in this paper, where the authors give a survey of the most well-known publications.
Journal ArticleDOI
Planar tilting maneuver of a spacecraft: Singular arcs in the minimum time problem and chattering
TL;DR: In this paper, the authors studied the minimum time planar tilting maneuver of a spacecraft, from both the theoretical and numerical point of view, with a particular focus on the chattering phenomenon and proved that there exist optimal chattering arcs when a singular junction occurs.
Journal ArticleDOI
Design and Development of In Vivo Robot for Biopsy
Anurag Garg,Chandra Sen Vikram,S. R. Gupta,Mihir Kumar Sutar,Pushparaj Mani Pathak,N. K. Mehta,Apurbba Kumar Sharma,V. K. Gupta +7 more
TL;DR: In this paper, a wire actuated robot with articulated links like in a snake robot has been designed and developed for biopsy as an add-on to the current endoscope.