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Applied mathematics / Trajectory optimization / Motion planning / Collision detection / Rapidly-exploring random tree / Kinematics / Convex optimization / Curvature / Quadratic programming / Mathematical optimization / Mathematical analysis / Physics


Planning Locally Optimal, Curvature-Constrained Trajectories in 3D using Sequential Convex Optimization Yan Duan, Sachin Patil, John Schulman, Ken Goldberg, Pieter Abbeel Abstract— 3D curvature-constrained motion plann
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Document Date: 2014-02-16 20:56:08

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File Size: 2,31 MB

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City

Sampling / /

Company

Princeton University Press / Cambridge University Press / BT / Computer Sciences / M. C. Bernardes B. V. / Intel / CRC Press / /

Country

United States / /

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Facility

Carnegie Mellon University / Robotics Institute / University of California at Berkeley / /

IndustryTerm

real-world applications / needle steering hardware / motion planning algorithms / realworld clinical applications / optimization algorithm / feasible solution / closed-form solutions / closed-loop imaging feedback / 3D imaging feedback / proposed multi-trajectory planning algorithm / sequential convex optimization algorithms / nonlinear systems / motivated applications / collision-free solutions / car robot / realworld applications / online control / analytical continuous-curvature pathsmoothing algorithm / /

Organization

Cambridge University / University of California / Robotics Institute / National Science Foundation / Medicine and Biology Society / Princeton University / Carnegie Mellon University / Department of Electrical Engineering and Computer Sciences / U.S. Securities and Exchange Commission / Environmental Protection Agency / /

Person

John Schulman / Sachin Patil / Yan Duan / J. Xu / V / Ken Goldberg / /

Position

sampling-based RRT planner / forward integration w/ re-planning Forward / anatomical model of the human male pelvic region / RRT planner / physician / Rt / randomized planner / RRT No forward integration Forward / Forward / planner / forward integration open loop Success% Forward / RRT-based planner / /

Product

Xt / /

ProvinceOrState

California / /

PublishedMedium

Pacific Journal of Mathematics / /

Technology

Sampling-based algorithms / radiation / Optimization algorithms / analytical continuous-curvature pathsmoothing algorithm / planning algorithm / sequential convex optimization algorithms / Neurosurgery / heat transfer / Planning algorithms / Simulation / Three-dimensional motion planning algorithms / RRT algorithm / cooling technology / optimization algorithm / proposed multi-trajectory planning algorithm / /

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