Proceedings ArticleDOI
Shortest path synthesis for Dubins non-holonomic robot
TLDR
This work calculates the partition of the configuration space R/sup 2//spl times/S/sup 1/ of a car-like robot, only moving forwards, with respect to the type of the length optimal paths, and gives new optimality conditions on these paths.Abstract:
We calculate the partition of the configuration space R/sup 2//spl times/S/sup 1/ of a car-like robot, only moving forwards, with respect to the type of the length optimal paths. This kind of robot is subject to kinematic constraints on its path curvature and its orientation. Starting from the results on shortest paths, we give new optimality conditions on these paths, and compute the partition for any horizontal plane of the configuration space. >read more
Citations
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Journal ArticleDOI
Sampling-Based Robot Motion Planning: A Review
Mohamed Elbanhawi,Milan Simic +1 more
TL;DR: The state of the art in motion planning is surveyed and selected planners that tackle current issues in robotics are addressed, for instance, real-life kinodynamic planning, optimal planning, replanning in dynamic environments, and planning under uncertainty are discussed.
Proceedings ArticleDOI
Path planning for UAVs
TL;DR: A two step path-planning algorithm for UAVs that generates a stealthy path through a set of enemy radar sites of known location, and provides an intuitive way to trade-off stealth versus path length is proposed.
Journal ArticleDOI
On optimal cooperative conflict resolution for air traffic management systems
Antonio Bicchi,Lucia Pallottino +1 more
TL;DR: A decentralized implementation of the optimal conflict resolution scheme is introduced that may allow free-flight coordination in a cooperative airspace management scheme and impact of decentralization on performance and safety is discussed with the help of extensive simulations.
Journal ArticleDOI
An Optimality Principle Governing Human Walking
TL;DR: This paper investigates different possible strategies underlying the formation of human locomotor trajectories in goal-directed walking and finds that the variation (time derivative) of the curvature of the locomotor paths is minimized.
Journal ArticleDOI
Linear Tracking for a Fixed-Wing UAV Using Nonlinear Model Predictive Control
Yeonsik Kang,J.K. Hedrick +1 more
TL;DR: A nonlinear model predictive control (NMPC) is used to design a high-level controller for a fixed-wing unmanned aerial vehicle (UAV) and the control objective is extended to track adjoined multiple line segments.
References
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Book
Mathematical Theory of Optimal Processes
TL;DR: The fourth and final volume in this comprehensive set presents the maximum principle as a wide ranging solution to nonclassical, variational problems as discussed by the authors, which can be applied in a variety of situations, including linear equations with variable coefficients.
Journal ArticleDOI
The Mathematical Theory of Optimal Processes
Richard Bellman,L. S. Pontryagin,V. G. Boltyanskii,Revaz Valerianovich Gamkrelidze,E. F. Mishchenko,K. N. Trirogoff,Lucien W. Neustadt +6 more
Journal ArticleDOI
On curves of minimal length with a constraint on average curvature, and with prescribed initial and terminal positions and tangents
Journal ArticleDOI
The Mathematical Theory of Optimal Processes
TL;DR: The Mathematical Theory of Optimal Processes (MTOP) as mentioned in this paper is a mathematical theory of optimal processes that is closely related to our approach to optimal process analysis, but with a different focus.
Journal ArticleDOI
Optimal paths for a car that goes both forwards and backwards.
James A. Reeds,L. A. Shepp +1 more
TL;DR: In this paper, the shortest path a car can travel between two points if its starting and ending directions are specified, and only paths with at most 2 cusps or reversals are considered.