3 papers
cs.RO2019
A Second-Order Lower Bound for Globally Optimal 2D Registration
Luca Consolini, Mattia Laurini, Marco Locatelli +1
The problem of planar registration consists in finding the transformation that better aligns two point sets. In our setting, the search domain is the set of planar rigid transforma…
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…