| Document Date: 2013-11-07 21:21:25
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City Dynamically Stable Optimization / / Company International Journal / / / Facility University of North Carolina / Chapel Hill / Stable Optimization-based Planning / / IndustryTerm dynamic graph search algorithm / non-hierarchical algorithm / optimization-based planning algorithm / optimization algorithm / rigid body dynamical systems / overall planning algorithm / motion planning algorithm / minimum-energy paths / search spaces / friction law / collisionfree solution / optimization-based motion planning algorithm / non-hierarchical planning algorithm / multi-robot systems / costcomputation algorithm / feasible solution / collision-free solution / hierarchical planning algorithm / dynamic stability algorithm / simplest trajectory smoothing algorithms / search space / / NaturalFeature Chapel Hill / / Organization University of North Carolina / Department of Computer Science / Vertical / / Person Ai / Optimization / Dinesh Manocha / Robots Chonhyon Park / / / Position motion planner / hierarchical planner / non-hierarchical planner / CIO / planner / ¨g Mp / / Product Mi-1i / / ProvinceOrState North Carolina / / PublishedMedium ACM Transactions on Graphics / / Technology three algorithms / overall planning algorithm / non-hierarchical planning algorithm / dynamic stability algorithm / optimization-based motion planning algorithm / optimization algorithm / dynamic graph search algorithm / non-hierarchical algorithm / planning algorithm / optimization-based planning algorithm / costcomputation algorithm / hierarchical planning algorithm / motion planning algorithm / planning algorithms / simulation / simplest trajectory smoothing algorithms / / URL http /
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Fast and Dynamically Stable Optimization-based Planning for High-DOF Robots Chonhyon Park and Dinesh Manocha Abstract— We present a novel optimization-based motion planning algorithm for high degree-of-freedom (DOF) ro