Hamiltonian path planning in constrained workspace

DOI10.1016/J.EJCON.2016.09.002MaRDI QIDQ1662989zbMATH OpenOpenAlexFDO

Authors Daniele Casagrande, Gianfranco Fenu, Felice Andrea Pellegrino

Publication date 21 August 2018

Published in European Journal of Control (Search for Journal in Brave)

Full work available at URL http://hdl.handle.net/11368/2890172

zbMATH Keywords

Hamiltonian systemsobstacle avoidancekinematic constraints

Mathematics Subject Classification ID

Nearly integrable Hamiltonian systems, KAM theory (70H08) Automated systems (robots, etc.) in control theory (93C85)

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Cites work

• Control of manipulators in a constrained workspace by means of linked invariant sets
• Higher harmonic resonances in free convection between vertical parallel plates
• Planning Algorithms
• Robot navigation functions on manifolds with boundary
• Springer handbook of robotics. With DVD

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(4)

• scientific article; zbMATH DE number 870411 (Why is no real title available?)
• The applications of harmonic functions to robotics
• Robotic motion using harmonic functions and finite elements
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