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Abstract: In this paper, we argue that it is advantageous to formulate motion planning as a variational problem. In this way, a unified framework for addressing redundancy, constraints, and optimality is obtained. An efficient numerical method is proposed for solving the motion planning problem in the variational form. The approach is illustrated on the problem of motion planning for systems that change dynamic equations at discrete time instants as they move. A technique is described for computing a... (Update)
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BibTeX entry: (Update)
@misc{ zefran-variational,
author = "Milos Zefran and Vijay Kumar",
title = "A Variational Calculus Framework for Motion Planning",
url = "citeseer.ist.psu.edu/192599.html" }
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18 Boston: Kluwer Academic Publishers (context) - Latombe, planning - 1991
12 Continuous methods for motion planning - Zefran - 1996
12 Multiple agent hybrid control: carrier manifolds and chatter.. (context) - Kohn, Nerode et al. - 1994
11 Optimal redundancy control of robot manipulators (context) - Nakamura, Hanafusa - 1987
10 Reorienting objects with a robot hand using grasp gaits (context) - Leveroni, Salisbury - 1995
10 Motion planning of walking robots in environments with uncer.. (context) - Chen, Kumar - 1996
8 Optimal trajectory generation for robotic manipulators using.. (context) - Singh, Leu - 1989
5 Motion planning of legged robots - Boissonnat, Devillers et al. - 1995
5 The application of continuum methods to path planning (context) - Buckley - 1985
3 A method for optimal synthesis of manipulation robot traject.. (context) - Vukobratovi'c, Kir'canski - 1982
3 Lectures on the calculus of variations (context) - Bliss - 1961
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