0000000000287884

AUTHOR

Mattia Laurini

0000-0001-9965-8803

showing 2 related works from this author

A solution of the minimum-time velocity planning problem based on lattice theory

2018

For a vehicle on an assigned path, we find the minimum-time speed law that satisfies kinematic and dynamic constraints, related to maximum speed and maximum tangential and transversal acceleration. We present a necessary and sufficient condition for the feasibility of the problem and a simple operator, based on the solution of two ordinary differential equations, which computes the optimal solution. Theoretically, we show that the problem feasible set, if not empty, is a lattice, whose supremum element corresponds to the optimal solution.

0303 health sciences0209 industrial biotechnologyComputer Networks and CommunicationsApplied MathematicsMinimum timeFeasible region02 engineering and technologyKinematicsInfimum and supremum03 medical and health sciences020901 industrial engineering & automationControl and Systems EngineeringOptimization and Control (math.OC)Lattice (order)Ordinary differential equationSignal ProcessingFOS: MathematicsApplied mathematicsMathematics - Optimization and Control030304 developmental biologyMathematics
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Graph-based algorithms for the efficient solution of a class of optimization problems

2018

In this paper, we address a class of specially structured problems that include speed planning, for mobile robots and robotic manipulators, and dynamic programming. We develop two new numerical procedures, that apply to the general case and to the linear subcase. With numerical experiments, we show that the proposed algorithms outperform generic commercial solvers.

Computer Science::RoboticsOptimization and Control (math.OC)90C35 90-08 90-04 65B99 90C39 06B23FOS: MathematicsMathematics - Optimization and Control
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