Optimal motion planning is very important to the operation of robot manipulators. Its main
target is the generation of a trajectory from start to goal that satisfies objectives, such as …

In this study, we derive sensitivity equations for the problem of optimization-based motion
prediction of a mechanical system using the inverse recursive Lagrangian formulation. The …

This paper describes two ANSI C subroutines for the direct solution of finite time optimal
control problems. Here the control variable is parameterized using a piecewise linear …

by Page 1 ()PTIMIZATION-BASED DYNAMIC HUMAN WALKING PREDICTION by Yujiang Xiang
A thesis submitted in partial fulfillment of the requirements for the Doctor of Philosophy degree …

This paper presents a solution to the time-optimal control of the relative formation of multiple
vehicles. This is a problem in cooperative time-optimal control with a free terminal state …

While several time-optimal trajectory planning techniques have been developed for
continuous non-linear systems, there has been little discussion on the subject for discrete …

High-quality maps are pertinent to performing tasks requiring precision interaction with the
environment. Current challenges with creating a high-precision map come from the need for …

This paper presents an evolutionary technique for open-loop minimum time planning of time-
histories of control torques for robotic manipulators subject to box constraints on the control …

Simulating human motion is a complex problem due to redundancy of the human
musculoskeletal system. The concept of task-based motion prediction using single-or multi …

The search for the minimum-time path of a robotic manipulator graphically by tessellating the
joint space involves heavy computational burden. Genetic algorithms (GAs) have been used …