
This paper presents TOPPQuad, an algorithm that generates time-optimal trajectories for quadrotors while explicitly incorporating their rigid body dynamics and constraints, such as bounds on inputs (including motor thrusts) and state of the vehicle.


coremsg

dynamically-feasible-time-optimal-trajectory-planning-for-quadrotors


Dynamically-Feasible Time-Optimal Trajectory Planning for Quadrotors


title_rewrite


Incorporating jerk constraints into time-optimal trajectory planning for industrial manipulators can enhance energy efficiency, durability, and safety through smoother motion profiles.


jerk-constrained-time-optimal-trajectory-planning-for-improved-performance-and-safety-of-industrial-manipulators


Jerk-Constrained Time-Optimal Trajectory Planning for Improved Performance and Safety of Industrial Manipulators



A path-following model predictive control (MPC) formulation is proposed to enable efficient and safe human-robot handovers by incorporating a Gaussian process-based prediction of the handover location and adapting the error bounds during the handover.


a-novel-model-predictive-trajectory-planner-for-efficient-and-safe-human-robot-handovers


A Novel Model Predictive Trajectory Planner for Efficient and Safe Human-Robot Handovers
