This paper characterizes time-optimal trajectories in anisotropic (direction-dependent) environments where path curvatures are bounded by the minimum turning radius of a mobile agent. Such problems are often faced in the navigation of aerial, ground and naval vehicles when a mobile agent cannot instantaneously change its heading angle. The presented work is a generalization of the Dubins car pr...

This article presents a method for determining smooth and time-optimal path constrained trajectories for robotic manipulators and investigates the performance of these trajectories both through simulations and experiments. The desired smoothness of the trajectory is imposed through limits on the torque rates. The third derivative of the path parameter with respect to time, the pseudo-jerk, is t...

Many mechatronic systems are controlled with predefined input trajectories, either in open loop or using feedback. This research considers the optimization of these trajectories, for mechatronic applications whose dynamics are difficult to model, and vary in a significant and unpredictable manner over time. For these applications, solving the trajectories with an optimal control problem require...

this paper aims to discuss the requirements of safe and smooth trajectory planning of transporter mobile robots to perform non-prehensile object manipulation task. in non-prehensile approach, the robot and the object must keep their grasp-less contact during manipulation task. to this end, dynamic grasp concept is employed for a box manipulation task and corresponding conditions are obtained an...

The determination of minimum-fuel or minimum-time space trajectories has been pursued for decades, using different methods of solution. This work illustrates some symmetry properties that hold for optimal space trajectories and can considerably simplify their determination. The existence of symmetry properties is demonstrated in the presence of certain boundary conditions for the problem of int...

Frictionless atom cooling in harmonic traps is formulated as a time-optimal control problem and a synthesis of optimal controlled trajectories is obtained.

‎in this paper‎, ‎we consider the optimal asset control of a financial company which can control its liquid reserves by paying dividends and by issuing new equity‎. ‎we assume that the liquid surplus of the company in the absence of control is modeled by the diffusion model‎. ‎it is a hot topic to maximize the expected present value of dividends payout minus equity issuance until the time of ba...

trajectories generally used to describe the space and time required to perform a desired motion task for a mobile robot or manipulator system. in this paper, we considered a cubic polynomial trajectory for the problem of moving a mobile robot from its initial position to a goal position in over a continuous set of time. along the path, the robot requires to observe a certain acceleration profil...