ICRA
2010
IEEE
13 years 3 months ago
2010
IEEE
— This paper considers a shortcutting heuristic to smooth jerky trajectories for many-DOF robot manipulators subject to collision constraints, velocity bounds, and acceleration b...
ICRA
2008
IEEE
13 years 11 months ago
2008
IEEE
— We consider a collection of robots sharing a common environment, each robot constrained to move on a roadmap in its configuration space. To program optimal collision-free moti...