2 papers
cs.RO2019
SL1M: Sparse L1-norm Minimization for contact planning on uneven terrain
Steve Tonneau, Daeun Song, Pierre Fernbach +3
One of the main challenges of planning legged locomotion in complex environments is the combinatorial contact selection problem. Recent contributions propose to use integer variabl…
cs.RO2018
Motion Planning in Irreducible Path Spaces
Andreas Orthey, Olivier Roussel, Olivier Stasse +1
The motion of a mechanical system can be defined as a path through its configuration space. Computing such a path has a computational complexity scaling exponentially with the dime…