Abstract— In this paper, we consider a class of continuoustime, continuous-space stochastic optimal control problems. Building upon recent advances in Markov chain approximation ...
The Resource-Constrained Project Scheduling Problem(RCPSP) is a significant challenge in highly regulated industries, such as pharmaceuticals and agrochemicals, where a large numb...
— An active cannula is a medical device composed of thin, pre-curved, telescoping tubes that may enable many new surgical procedures. Planning optimal motions for these devices i...
This paper studies motion planning from one zero velocity state to another for a three-joint robot in a horizontal plane witha passive revolute third joint. Such a robot is small-...
Kevin M. Lynch, Naoji Shiroma, Hirohiko Arai, Kazu...
In this paper, we consider the problem of motion planning for mobile robots with nonlinear hybrid dynamics, and high-level temporal goals. We use a multi-layered synergistic framew...