相关论文: On the Performance of Jerk-Constrained Time-Optima…

We present a method for effectively planning the motion trajectory of robots in manufacturing tasks, the tool-paths of which are usually complex and have a large number of discrete-time constraints as waypoints. Kinematic redundancy also…

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…

Velocity Planning for self-driving vehicles in a complex environment is one of the most challenging tasks. It must satisfy the following three requirements: safety with regards to collisions; respect of the maximum velocity limits defined…

A typical manipulation task consists of a manipulator equipped with a gripper to grasp and move an object with constraints on the motion of the hand-held object, which may be due to the nature of the task itself or from object-environment…

An efficient approach to compute near time-optimal trajectories for linear kinematic systems with oscillatory internal dynamics is presented. Thereby, kinematic constraints with respect to velocity, acceleration and jerk are taken into…

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…

In many mobile robotics scenarios, such as drone racing, the goal is to generate a trajectory that passes through multiple waypoints in minimal time. This problem is referred to as time-optimal planning. State-of-the-art approaches either…

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…

Time-jerk optimal trajectory planning is crucial in advancing robotic arms' performance in dynamic tasks. Traditional methods rely on solving complex nonlinear programming problems, bringing significant delays in generating optimized…

As a core part of autonomous driving systems, motion planning has received extensive attention from academia and industry. However, real-time trajectory planning capable of spatial-temporal joint optimization is challenged by nonholonomic…

An algorithm for planning near time-optimal trajectories for systems with an oscillatory internal dynamics has been developed in previous work. It is based on assembling a complete trajectory from motion primitives called jerk segments,…

In this paper we discuss a sequential algorithm for the computation of a minimum-time speed profile over a given path, under velocity, acceleration and jerk constraints. Such a problem arises in industrial contexts such as automated…

Task and motion planning (TAMP) for multi-robot systems, which integrates discrete task planning with continuous motion planning, remains a challenging problem in robotics. Existing TAMP approaches often struggle to scale effectively for…

Coordinating the motion of multiple robots in cluttered environments remains a computationally challenging task. We study the problem of minimizing the execution time of a set of geometric paths by a team of robots with state-dependent…

The main contribution of this paper is the proof of the convexity of the omni-directional tethered robot workspace (namely, the set of all tether-length-admissible robot configurations), as well as a set of distance-optimal tethered path…

This paper addresses the challenge of planning a sequence of tasks to be performed by multiple robots while minimizing the overall completion time subject to timing and precedence constraints. Our approach uses the Timed Partial Orders…

Differential-driven wheeled robots (DWR) represent the quintessential type of mobile robots and find extensive appli- cations across the robotic field. Most high-performance control approaches for DWR explicitly utilize the linear and…

A redundant manipulator has multiple inverse kinematics solutions per end-effector pose. Accordingly, there can be many trajectories for joints that follow a given endeffector path in the Cartesian space. In this paper, we present a…

We present Ruckig, an algorithm for Online Trajectory Generation (OTG) respecting third-order constraints and complete kinematic target states. Given any initial state of a system with multiple Degrees of Freedom (DoFs), Ruckig calculates a…

Joint space trajectory optimization under end-effector task constraints leads to a challenging non-convex problem. Thus, a real-time adaptation of prior computed trajectories to perturbation in task constraints often becomes intractable.…