Minimum-Time Trajectory Planning Under Intermittent Measurements

Minimum Fuel Trajectory in a 3/ D Time Scheduled Climb

Minimum cost trajectory planning for industrial robots

We discuss the problem of minimum cost trajectory planning for robotic manipulators. It consists of linking two points in the operational space while minimizing a cost function, taking into account dynamic equations of motion as well as bounds on joint positions, velocities, jerks and torques. This generic optimal control problem is transformed, via a clamped cubic spline model of joint tempora...

Trajectory Planning Using High Order Polynomials under Acceleration Constraint

The trajectory planning, which is known as a movement from starting to end point by satisfying the constraints along the path is an essential part of robot motion planning. A common way to create trajectories is to deal with polynomials which have independent coefficients. This paper presents a trajectory formulation as well as a procedure to arrange the suitable trajectories for applications. ...

Planning manipulator trajectories under dynamics constraints using minimum-time shortcuts

Planning minimum-time, dynamically-feasible, collision-free trajectories for robotic manipulators is essential to improve industrial productivity. Yet this difficult problem is still waiting for robust and efficient algorithms. Here we propose to tackle it by bringing together two methods : fixed-path time-minimization under dynamics constraints and shortcuts-based smoothing. We implement our a...

Secure Minimum Time Planning Under Environmental Uncertainty: an Extended Treatment

Cyber Physical Systems (CPS) are becoming ubiquitous and affect the physical world, yet security is seldom at the forefront of their design. This is especially true of robotic control algorithms which seldom consider the effect of a cyber attack on mission objectives and success. This work presents a secure optimal control algorithm in the face of a cyber attack on a robot’s knowledge of the en...