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math.OC2018
Graph-based algorithms for the efficient solution of a class of optimization problems
Luca Consolini, Mattia Laurini, Marco Locatelli
In this paper, we address a class of specially structured problems that include speed planning, for mobile robots and robotic manipulators, and dynamic programming. We develop two…
math.OC2018
A solution of the minimum-time velocity planning problem based on lattice theory
Luca Consolini, Mattia Laurini, Marco Locatelli +1
For a vehicle on an assigned path, we find the minimum-time speed law that satisfies kinematic and dynamic constraints, related to maximum speed and maximum tangential and transver…
cs.RO2018
A fast speed planning algorithm for robotic manipulators
Luca Consolini, Marco Locatelli, Andrea Minari +2
We consider the speed planning problem for a robotic manipulator. In particular, we present an algorithm for finding the time-optimal speed law along an assigned path that satisfie…