8 search results - page 1 / 2 » The pontryagin maximum principle applied to nonholonomic mec... |
CDC
2008
IEEE
13 years 12 months ago
2008
IEEE
— We introduce a method which allows one to recover the nonholonomic equations of motion of certain systems by instead finding a Hamiltonian via Pontryagin’s Maximum Principle...
ICRA
2007
IEEE
13 years 11 months ago
2007
IEEE
— Computing optimal paths for mobile robots is an interesting and important problem. This paper presents a method to compute the shortest path for a differential-drive mobile rob...
ICRA
2000
IEEE
13 years 9 months ago
2000
IEEE
This paper applies Pontryagin’s Maximum Principle to the time optimal control of differential drive mobile robots with velocity bounds. The Maximum Principle gives necessary con...
ICRA
2002
IEEE
13 years 10 months ago
2002
IEEE
Previous work [3, 6, 9, 8, 7, 1] has presented the time optimal trajectories for three classes of non-holonomic mobile robots: steered cars that can only go forwards, steered cars...
RSS
2007
13 years 6 months ago
2007
— This paper studies the optimal motion control of mechanical systems through a discrete geometric approach. At the core of our formulation is a discrete Lagrange-d’AlembertPon...