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Time-optimal path following for robots with trajectory jerk constraints using sequential convex programming.

Frederik DebrouwereWannes Van LoockGoele PipeleersDinh Quoc TranMoritz DiehlJoris De SchutterJan Swevers
Published in: ICRA (2013)
Keyphrases
  • convex programming
  • convex optimization
  • convex constraints
  • semidefinite programming
  • primal dual
  • interior point methods
  • optimal solution
  • mobile robot
  • linear programming
  • dynamic programming
  • convex functions