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- W2887359570 abstract "The notion of warping the rate of time is explored in the context of differentially flat systems to enable time-optimal motion by convex optimisation. Examples are given with systems configured on the special Euclidean groups SE(2) and SE(3), with and without differential constraints. The proposed method complements classical methods of motion planning, may be used in a real-time context with guarantees on time-optimality subject to constraints on the first two derivatives on the flat output trajectory and all time-warping derivatives. In addition, an iterative method is presented to find close-to-optimal solutions in the event of non-convex constraints." @default.
- W2887359570 created "2018-08-22" @default.
- W2887359570 creator A5035704541 @default.
- W2887359570 date "2018-06-01" @default.
- W2887359570 modified "2023-10-16" @default.
- W2887359570 title "A Time-Warping Transformation for Time-Optimal Movement in Differentially Flat Systems" @default.
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- W2887359570 doi "https://doi.org/10.23919/acc.2018.8431230" @default.
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