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spostrzeżenie - Robotics Trajectory Planning
Dynamically-Feasible Time-Optimal Trajectory Planning for Quadrotors
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.
Jerk-Constrained Time-Optimal Trajectory Planning for Improved Performance and Safety of Industrial Manipulators
Incorporating jerk constraints into time-optimal trajectory planning for industrial manipulators can enhance energy efficiency, durability, and safety through smoother motion profiles.
A Novel Model Predictive Trajectory Planner for Efficient and Safe Human-Robot Handovers
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.
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