100 search results - page 4 / 20 » A Penalty Function Method for Constrained Motion Planning |
ICRA
2003
IEEE
15 years 5 months ago
2003
IEEE
– Borrowing a concept from hydrodynamic analysis, this paper presents stream functions which satisfy Laplace’s equation as a local-minima free method for producing potential-ï¬...
ICRA
2005
IEEE
15 years 5 months ago
2005
IEEE
— This paper describes a generation method for spatially natural biped walking. By limiting the COG (Center of Gravity) motion space to a sculptured surface, the degree of freedo...
CDC
2008
IEEE
15 years 6 months ago
2008
IEEE
— In this paper, we consider a motion planning problem for a class of constrained nonlinear systems. In each simplex of a triangulation of the set of states, the nonlinear dynami...
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SIAMJO
2008
14 years 11 months ago
2008
We present an algorithm for large-scale equality constrained optimization. The method is based on a characterization of inexact sequential quadratic programming (SQP) steps that ca...
MP
2010
14 years 10 months ago
2010
Abstract We present a matrix-free line search algorithm for large-scale equality constrained optimization that allows for inexact step computations. For sufficiently convex problem...