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cs.RO2023
iDb-A*: Iterative Search and Optimization for Optimal Kinodynamic Motion Planning
Joaquim Ortiz-Haro, Wolfgang Hoenig, Valentin N. Hartmann +1
Motion planning for robotic systems with complex dynamics is a challenging problem. While recent sampling-based algorithms achieve asymptotic optimality by propagating random contr…
cs.RO2023★ 1 cited
Kinodynamic Motion Planning for a Team of Multirotors Transporting a Cable-Suspended Payload in Cluttered Environments
Khaled Wahba, Joaquim Ortiz-Haro, Marc Toussaint +1
We propose a motion planner for cable-driven payload transportation using multiple unmanned aerial vehicles (UAVs) in an environment cluttered with obstacles. Our planner is kinody…