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- W986708113 abstract "We develop trajectory planners for a class of second-order underactuated mechanical systems called kinematically controllable systems. For kinematically controllable systems, the problem of planning fast collision-free trajectories can be decoupled into the computationally simpler problems of path planning for a kinematic system followed by time-optimal time scaling. This paper describes efficient path planners using randomized algorithms and dynamic programming to solve the path planning problem for the kinematic system. The resulting kinematic paths are time scaled to produce fast trajectories." @default.
- W986708113 created "2016-06-24" @default.
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- W986708113 date "2004-01-01" @default.
- W986708113 modified "2023-09-25" @default.
- W986708113 title "Trajectory Planning for Kinematically Controllable Underactuated Mechanical Systems" @default.
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- W986708113 doi "https://doi.org/10.1007/978-3-540-45058-0_33" @default.
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