Proximate time-optimal algorithm for on-line path parameterization and modification Export

@inproceedings{Pardo1996, abstract = {This paper presents an new, proximate-optimal solution to the path-constrained time-parameterization problem. This new algorithm has three distinguishing features: First, the run-time worst-case complexity of the proximate time-optimal algorithm is linear with respect to path-length and it is shown to be more efficient than any other truly time-optimal algorithm. Second, for a given robotic system, the algorithm's running-time is predictable as a function of the length of the path (allowing its use in combination with time-aware planners). Third, the algorithm easily supports the modification of on-going trajectories. The algorithm has been extensively tested and is operational in a number of robotic systems including a dual-arm workcell, an underwater robotic system, and the Marsokhod Rover vehicle. Experimental results presented illustrate the online use of the algorithm with a path planner to allow capture and delivery of objects from a moving conveyor belt}, author = {Castellote, Pardo G. and Jr}, booktitle = {Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on}, citeulike-article-id = {1679551}, keywords = {algorithm, belt, bibtex-import, complexity, conveyor, dual-arm, marsokhod, moving, online, optimisation, parameterization, path, path-constrained, planning, problem, proximate, robotic, robots, rover, run-time, system, time-optimal, time-parameterization, underwater, vehicle, workcell, worst-case}, pdf = {Pardo1996 - Proximate Time-Optimal Algorithm for On-Line Path Parameterization and Modification.pdf}, posted-at = {2007-09-20 17:17:31}, priority = {0}, title = {Proximate time-optimal algorithm for on-line path parameterization and modification}, volume = {2}, year = {1996} }

TY - CONF ID - Pardo1996 L3 - citeulike-article-id:1679551 N2 - This paper presents an new, proximate-optimal solution to the path-constrained time-parameterization problem. This new algorithm has three distinguishing features: First, the run-time worst-case complexity of the proximate time-optimal algorithm is linear with respect to path-length and it is shown to be more efficient than any other truly time-optimal algorithm. Second, for a given robotic system, the algorithm's running-time is predictable as a function of the length of the path (allowing its use in combination with time-aware planners). Third, the algorithm easily supports the modification of on-going trajectories. The algorithm has been extensively tested and is operational in a number of robotic systems including a dual-arm workcell, an underwater robotic system, and the Marsokhod Rover vehicle. Experimental results presented illustrate the online use of the algorithm with a path planner to allow capture and delivery of objects from a moving conveyor belt TI - Proximate time-optimal algorithm for on-line path parameterization and modification VL - 2 T2 - Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on KW - algorithm KW - belt KW - bibtex-import KW - complexity KW - conveyor KW - dual-arm KW - marsokhod KW - moving KW - online KW - optimisation KW - parameterization KW - path KW - path-constrained KW - planning KW - problem KW - proximate KW - robotic KW - robots KW - rover KW - run-time KW - system KW - time-optimal KW - time-parameterization KW - underwater KW - vehicle KW - workcell KW - worst-case AU - Castellote, Pardo AU - Jr PY - 1996/// ER -