Related papers: A General Formulation for Path Constrained Time-Op…
Evaluating a grasp generated by a set of hand-object contact locations is a key component of many grasp planning algorithms. In this paper, we present a novel second order cone program (SOCP) based optimization formulation for evaluating a…
This paper studies the time-optimal path tracking problem for a team of cooperating robotic manipulators carrying an object. Considering the problem for rigidly grasped objects, we show that it can be cast as a convex optimization problem…
Jerk-constrained trajectories offer a wide range of advantages that collectively improve the performance of robotic systems, including increased energy efficiency, durability, and safety. In this paper, we present a novel approach to…
This article introduces a numerical algorithm that serves as a preliminary step toward solving continuous-time model predictive control (MPC) problems directly without explicit time-discretization. The chief ingredients of the underlying…
We consider the speed planning problem for a vehicle moving along an assigned trajectory, under maximum speed, tangential and lateral acceleration, and jerk constraints. The problem is a nonconvex one, where nonconvexity is due to jerk…
Solving optimal control problems (OCPs) of autonomous agents operating under spatial and temporal constraints fast and accurately is essential in applications ranging from eco-driving of autonomous vehicles to quadrotor navigation. However,…
This paper proposes a novel approach to performing in-grasp manipulation: the problem of moving an object with reference to the palm from an initial pose to a goal pose without breaking or making contacts. Our method to perform in-grasp…
Trajectory optimization offers mature tools for motion planning in high-dimensional spaces under dynamic constraints. However, when facing complex configuration spaces, cluttered with obstacles, roboticists typically fall back to…
In robot manipulation, planning the motion of a robot manipulator to grasp an object is a fundamental problem. A manipulation planner needs to generate a trajectory of the manipulator arm to avoid obstacles in the environment and plan an…
This paper focuses on spatial time-optimal motion planning, a generalization of the exact time-optimal path following problem that allows the system to plan within a predefined space. In contrast to state-of-the-art methods, we drop the…
The optimal control problem for the kinematic bicycle model is considered where the trajectories are required to satisfy the safety constraints in the continuous-time sense. Based on the differential flatness property of the model,…
In this paper we address the speed planning problem for a vehicle over an assigned path with the aim of minimizing a weighted sum of travel time and energy consumption under suitable constraints (maximum allowed speed, maximum traction or…
Finding the Time-Optimal Parameterization of a Path (TOPP) subject to second-order constraints (e.g. acceleration, torque, contact stability, etc.) is an important and well-studied problem in robotics. In comparison, TOPP subject to…
The penetration trajectory optimization problem for the hypersonic gliding vehicle (HGV) encountering two interceptors is investigated. The HGV penetration trajectory optimization problem considering the terminal target area is formulated…
In this work, we present an extension to a linear Model Predictive Control (MPC) scheme that plans external contact forces for the robot when given multiple contact locations and their corresponding friction cone. To this end, we set up a…
Applying intelligent robot arms in dynamic uncertain environments (i.e., flexible production lines) remains challenging, which requires efficient algorithms for real time trajectory generation. The motion planning problem for robot…
Optimal motion planning along prescribed paths can be solved with several techniques, but most of them do not take into account the wrenches exerted by the end-effector when in contact with the environment. When a dynamic model of the…
We address the problem of applying Task and Motion Planning (TAMP) in real world environments. TAMP combines symbolic and geometric reasoning to produce sequential manipulation plans, typically specified as joint-space trajectories, which…
Generating time-optimal, collision-free trajectories for autonomous mobile robots involves a fundamental trade-off between guaranteeing safety and managing computational complexity. State-of-the-art approaches formulate spline-based motion…
This paper presents a systematic approach for computing local solutions to motion planning problems in non-convex environments using numerical optimal control techniques. It extends the range of use of state-of-the-art numerical optimal…