Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 5 of 5 for “"kinodynamic motion planning"”.
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Kinodynamic motion planning for high-dimensional physical systems
This thesis presents a kinodynamic motion planner, Kinodynamic Motion Planning by Interior-Exterior Cell Exploration ( KPIECE ), specifically designed for systems with complex dynamics, where physics-based simulation is necessary. A multiple-level grid-based discretization is used to estimate the …
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A generalized label correcting method for optimal kinodynamic motion planning
… all autonomous robotic systems use some form of motion planning to compute reference motions through their environment. An increasing use of autonomous robots in a broad range of applications creates a need for efficient, general purpose motion planning algorithms that are applicable in any of …
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Kinematic Chain Monoids for Real-Time Kinodynamic Trajectory Optimization in Legged Robots
… framework to solve dynamics problems and kinodynamic motion planning problems with full consideration of whole-body dynam- ics and contacts. In this thesis I will present DFG and explain the different variables and constraints being used in legged robot trajectory optimization using DFG. …
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Leveraging Structure for Efficient and Dexterous Contact-Rich Manipulation
… local gradient-based control and sampling-based motion planning, we can bypass the combinatorial explosion of contact modes while still leveraging structure and achieve highly efficient contact-rich manipulation. To achieve this capability, I first shed light on how RL abstracts contact modes and …
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Autonomous Navigation for Unmanned Aerial Systems - Visual Perception and Motion Planning
L'abstract è presente nell'allegato / the abstract is in the attachment