Reports de recerca
Recent Submissions
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Second order collocation
(2021)
Research report
Open AccessCollocation methods for optimal control commonly assume that the system dynamics is expressed as a first order ODE of the form dx/dt = f(x, u, t), where x is the state and u the control vector. However, in many cases, the ... -
Yet a better closed-form formula for the 3D nearest rotation matrix problem
(2021)
Research report
Open AccessThis technical report complements the results recently presented in [1] showing that they can be extended to define an efficient and robust method to determine the rotation matrix nearest to an arbitrary 3 × 3 matrix. This ... -
A modification of collocation methods to ensure compatible position and velocity trajectories. Documento técnico del Instituto de Robótica e Informática Industrial
(2021-05-26)
Research report
Open Access -
A randomized kinodynamic planner for closed-chain robotic systems
(2019)
Research report
Open AccessKinodynamic RRT planners are effective tools for finding feasible trajectories in many classes of robotic systems. However, they are hard to apply to systems with closed-kinematic chains, like parallel robots, cooperating ... -
Kinodynamic planning on constraint manifolds
(2017)
Research report
Open AccessThis report presents a motion planner for systems subject to kinematic and dynamic constraints. The former appear when kinematic loops are present in the system, such as in parallel manipulators, in robots that cooperate ... -
Sistemes multi-agent
(1997-05-06)
Research report
Open AccessIn the last years a growing interest has arisen around a new paradigm called (among other names) Agents or Multi-Agents Systems. Its popularity has increased to the point that nowadays almost everyone working in Artificial ...
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