Robust Optimal Trajectory Planning for Robots by Stochastic Optimization

DOI10.1076/MCMD.8.1.75.8343MaRDI QIDQ3147798zbMATH OpenOpenAlexFDO

Authors Kurt Marti, A. Aurnhammer

Publication date 20 March 2003

Published in Mathematical and Computer Modelling of Dynamical Systems (Search for Journal in Brave)

Full work available at URL http://hdl.handle.net/10.1076/mcmd.8.1.75.8343

zbMATH Keywords

adaptive optimal stochastic trajectory planningfeedforward controloptimal controlreal-time conditionsrobotsrobust adaptive controlrobust reference trajectoriessensitivity analysisstochastic optimization methodsstochastic programming

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Stochastic programming (90C15) Automated systems (robots, etc.) in control theory (93C85) Stochastic learning and adaptive control (93E35)

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• Robust Motion Planning for Uncertain Systems With Disturbances Using the Invariant-Set Motion Planner

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