— We introduce a method which allows one to recover the nonholonomic equations of motion of certain systems by instead finding a Hamiltonian via Pontryagin’s Maximum Principle...
— Computing optimal paths for mobile robots is an interesting and important problem. This paper presents a method to compute the shortest path for a differential-drive mobile rob...
This paper applies Pontryagin’s Maximum Principle to the time optimal control of differential drive mobile robots with velocity bounds. The Maximum Principle gives necessary con...
Previous work [3, 6, 9, 8, 7, 1] has presented the time optimal trajectories for three classes of non-holonomic mobile robots: steered cars that can only go forwards, steered cars...
— This paper studies the optimal motion control of mechanical systems through a discrete geometric approach. At the core of our formulation is a discrete Lagrange-d’AlembertPon...
Marin Kobilarov, Mathieu Desbrun, Jerrold E. Marsd...