48 citations · 75 across the 4 of their papers we have counts for
4 papers
Direct Collocation Methods for Trajectory Optimization in Constrained Robotic Systems
Ricard Bordalba, Tobias Schoels, Lluís Ros +2
Direct collocation methods are powerful tools to solve trajectory optimization problems in robotics. While their resulting trajectories tend to be dynamically accurate, they may al…
Kinodynamic Planning on Constraint Manifolds
Ricard Bordalba, Lluís Ros, Josep M. Porta
This paper presents a motion planner for systems subject to kinematic and dynamic constraints. The former appear when kinematic loops are present in the system, such as in parallel…
Sampling Strategies for Path Planning under Kinematic Constraints
Josep M. Porta, Léonard Jaillet
A well-known weakness of the probabilistic path planners is the so-called narrow passage problem, where a region with a relatively low probability of being sampled must be explored…
Reinforcement Learning for Agents with Many Sensors and Actuators Acting in Categorizable Environments
E. Celaya, J. M. Porta
In this paper, we confront the problem of applying reinforcement learning to agents that perceive the environment through many sensors and that can perform parallel actions using m…