48 citations · 75 across the 4 of their papers we have counts for
Showing cs.ROShow all
3 papers · 1 filter
cs.RO2023★ 48 cited
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…
cs.RO2017★ 6 cited
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…
cs.RO2014★ 3 cited
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…