Kinematic controllability for decoupled trajectory planning in underactuated mechanical systems

TitleKinematic controllability for decoupled trajectory planning in underactuated mechanical systems
Publication TypeJournal Article
Year of Publication2001
AuthorsBullo, F., and K. M. Lynch
JournalRobotics and Automation, IEEE Transactions on
Volume17
Pages402 -412
Date Publishedaug
ISSN1042-296X
Keywordscollision avoidance, computational complexity, controllability, decoupled trajectory planning, efficient collision-free trajectory planning, kinematic controllability, manipulators, path planning, robot kinematics, second-order underactuated mechanical systems, Space vehicles, time optimal control, time-optimal time scaling, underactuated dynamic systems, underwater vehicles, zero velocity states
DOI10.1109/70.954753
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