Motion Planning of Under-Actuated Mechanical Systems: Convergence Analysis for Iterative Methods.
Makoto IwamuraHiroaki OzakiAkira MohriPublished in: ICRA (2002)
Keyphrases
- convergence analysis
- mechanical systems
- iterative methods
- motion planning
- degrees of freedom
- trajectory planning
- global convergence
- mobile robot
- path planning
- humanoid robot
- optimality conditions
- computationally expensive
- constrained optimization
- multi robot
- control scheme
- iterative algorithms
- kinematic model
- motion tracking
- neural model
- convergence rate
- approximation methods
- convergence speed
- motion analysis
- multi modal
- feature extraction
- optimization methods