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Efficient calculation of time-optimal motion primitives for systems exhibiting oscillatory internal dynamics with multiple applications

Autor: Auer, Thomas, Woittennek, Frank

A fast algorithm for planning near time-optimal trajectories for systems with an oscillatory internal dynamics has been developed in previous work. In this algorithm, trajectories are assembled from special motion primitives called jerk segments, whi

Externí odkaz: http://arxiv.org/abs/2411.19148

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Computationally efficient trajectory design from motion primitives for near time-optimal transitions for systems with oscillating internal dynamics

Autor: Auer, Thomas, Woittennek, Frank

An efficient approach to compute near time-optimal trajectories for linear kinematic systems with oscillatory internal dynamics is presented. Thereby, kinematic constraints with respect to velocity, acceleration and jerk are taken into account. The t

Externí odkaz: http://arxiv.org/abs/2411.19144

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Software Testing, AI and Robotics (STAIR) Learning Lab

Autor: Haller-Seeber, Simon, Gatterer, Thomas, Hofmann, Patrick, Kelter, Christopher, Auer, Thomas, Felderer, Michael

In this paper we presented the Software Testing, AI and Robotics (STAIR) Learning Lab. STAIR is an initiative started at the University of Innsbruck to bring robotics, Artificial Intelligence (AI) and software testing into schools. In the lab physica

Externí odkaz: http://arxiv.org/abs/2204.03028

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