FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W3135351607> ?p ?o ?g. }

• W3135351607 abstract "Although Trajectory Optimization (TO) is one of the most powerful motion planning tools, it suffers from expensive computational complexity as a time horizon increases in cluttered environments. It can also fail to converge to a globally optimal solution. In this paper, we present Lazy Trajectory Optimization (LTO) that unifies local short-horizon TO and global Graph-Search Planning (GSP) to generate a long-horizon global optimal trajectory. LTO solves TO with the same constraints as the original long-horizon TO with improved time complexity. We also propose a TO-aware cost function that can balance both solution cost and planning time. Since LTO solves many nearly identical TO in a roadmap, it can provide an informed warm-start for TO to accelerate the planning process. We also present proofs of the computational complexity and optimality of LTO. Finally, we demonstrate LTO's performance on motion planning problems for a 2 DOF free-flying robot and a 21 DOF legged robot, showing that LTO outperforms existing algorithms in terms of its runtime and reliability." @default.
• W3135351607 created "2021-03-15" @default.
• W3135351607 creator A5027410770 @default.
• W3135351607 creator A5056133965 @default.
• W3135351607 creator A5068194893 @default.
• W3135351607 creator A5085353704 @default.
• W3135351607 date "2021-03-01" @default.
• W3135351607 modified "2023-09-27" @default.
• W3135351607 title "LTO: Lazy Trajectory Optimization with Graph-Search Planning for High DOF Robots in Cluttered Environments" @default.
• W3135351607 cites W1140243306 @default.
• W3135351607 cites W122154553 @default.
• W3135351607 cites W131069610 @default.
• W3135351607 cites W1502718064 @default.
• W3135351607 cites W1601512022 @default.
• W3135351607 cites W1973546417 @default.
• W3135351607 cites W2015149365 @default.
• W3135351607 cites W2053862301 @default.
• W3135351607 cites W2079772745 @default.
• W3135351607 cites W2128990851 @default.
• W3135351607 cites W2159722616 @default.
• W3135351607 cites W2162597485 @default.
• W3135351607 cites W2341848647 @default.
• W3135351607 cites W2460774278 @default.
• W3135351607 cites W2536431081 @default.
• W3135351607 cites W2567729074 @default.
• W3135351607 cites W2620813892 @default.
• W3135351607 cites W2767578104 @default.
• W3135351607 cites W2786893837 @default.
• W3135351607 cites W2788030459 @default.
• W3135351607 cites W2909331752 @default.
• W3135351607 cites W2912877111 @default.
• W3135351607 cites W2942742441 @default.
• W3135351607 cites W2963128534 @default.
• W3135351607 cites W2964118380 @default.
• W3135351607 cites W2966173166 @default.
• W3135351607 cites W2967084668 @default.
• W3135351607 cites W3003335319 @default.
• W3135351607 cites W3003747652 @default.
• W3135351607 cites W3006614327 @default.
• W3135351607 cites W3015470607 @default.
• W3135351607 cites W3021132920 @default.
• W3135351607 cites W3023830629 @default.
• W3135351607 cites W3041042960 @default.
• W3135351607 cites W3089464149 @default.
• W3135351607 cites W3097090618 @default.
• W3135351607 cites W3102715624 @default.
• W3135351607 cites W3103075896 @default.
• W3135351607 cites W3106426148 @default.
• W3135351607 cites W3127508379 @default.
• W3135351607 cites W3130987264 @default.
• W3135351607 cites W3133095384 @default.
• W3135351607 hasPublicationYear "2021" @default.
• W3135351607 type Work @default.
• W3135351607 sameAs 3135351607 @default.
• W3135351607 citedByCount "0" @default.
• W3135351607 crossrefType "posted-content" @default.
• W3135351607 hasAuthorship W3135351607A5027410770 @default.
• W3135351607 hasAuthorship W3135351607A5056133965 @default.
• W3135351607 hasAuthorship W3135351607A5068194893 @default.
• W3135351607 hasAuthorship W3135351607A5085353704 @default.
• W3135351607 hasConcept C108710211 @default.
• W3135351607 hasConcept C121332964 @default.
• W3135351607 hasConcept C126255220 @default.
• W3135351607 hasConcept C1276947 @default.
• W3135351607 hasConcept C132525143 @default.
• W3135351607 hasConcept C13662910 @default.
• W3135351607 hasConcept C154945302 @default.
• W3135351607 hasConcept C159176650 @default.
• W3135351607 hasConcept C173246807 @default.
• W3135351607 hasConcept C2524010 @default.
• W3135351607 hasConcept C28761237 @default.
• W3135351607 hasConcept C33923547 @default.
• W3135351607 hasConcept C41008148 @default.
• W3135351607 hasConcept C80444323 @default.
• W3135351607 hasConcept C81074085 @default.
• W3135351607 hasConcept C90509273 @default.
• W3135351607 hasConcept C91575142 @default.
• W3135351607 hasConceptScore W3135351607C108710211 @default.
• W3135351607 hasConceptScore W3135351607C121332964 @default.
• W3135351607 hasConceptScore W3135351607C126255220 @default.
• W3135351607 hasConceptScore W3135351607C1276947 @default.
• W3135351607 hasConceptScore W3135351607C132525143 @default.
• W3135351607 hasConceptScore W3135351607C13662910 @default.
• W3135351607 hasConceptScore W3135351607C154945302 @default.
• W3135351607 hasConceptScore W3135351607C159176650 @default.
• W3135351607 hasConceptScore W3135351607C173246807 @default.
• W3135351607 hasConceptScore W3135351607C2524010 @default.
• W3135351607 hasConceptScore W3135351607C28761237 @default.
• W3135351607 hasConceptScore W3135351607C33923547 @default.
• W3135351607 hasConceptScore W3135351607C41008148 @default.
• W3135351607 hasConceptScore W3135351607C80444323 @default.
• W3135351607 hasConceptScore W3135351607C81074085 @default.
• W3135351607 hasConceptScore W3135351607C90509273 @default.
• W3135351607 hasConceptScore W3135351607C91575142 @default.
• W3135351607 hasLocation W31353516071 @default.
• W3135351607 hasOpenAccess W3135351607 @default.
• W3135351607 hasPrimaryLocation W31353516071 @default.
• W3135351607 hasRelatedWork W2100863849 @default.
• W3135351607 hasRelatedWork W2138284794 @default.
• W3135351607 hasRelatedWork W2563971745 @default.

• next