scholarly journals Stochastic Optimal Trajectory Generation via Multivariate Polynomial Chaos

2018 ◽  
Author(s):  
Lisa J. Whittle ◽  
Marco Sagliano
Keyword(s):  
Optimal Trajectory ◽  
Polynomial Chaos ◽  
Trajectory Generation ◽  
Multivariate Polynomial

Optimal Trajectory Generation With Probabilistic System Uncertainty Using Polynomial Chaos

2010 ◽  
Vol 133 (1) ◽  
Author(s):  
James Fisher ◽  
Raktim Bhattacharya
Keyword(s):  
Optimal Trajectory ◽  
Polynomial Chaos ◽  
Stochastic Dynamics ◽  
Trajectory Generation ◽  
Van Der Pol Oscillator ◽  
Probabilistic Uncertainty ◽  
Higher Dimensional ◽  
Generalized Polynomial ◽  
Dimensional State Space ◽  
Polynomial Chaos Theory

In this paper, we develop a framework for solving optimal trajectory generation problems with probabilistic uncertainty in system parameters. The framework is based on the generalized polynomial chaos theory. We consider both linear and nonlinear dynamics in this paper and demonstrate transformation of stochastic dynamics to equivalent deterministic dynamics in higher dimensional state space. Minimum expectation and variance cost function are shown to be equivalent to standard quadratic cost functions of the expanded state vector. Results are shown on a stochastic Van der Pol oscillator.

Optimal Trajectory Generation Using an Improved Probabilistic Road Map Algorithm for Autonomous Driving

2021 ◽  
Author(s):  
Stefano Feraco ◽  
Angelo Bonfitto ◽  
Irfan Khan ◽  
Nicola Amati ◽  
Andrea Tonoli
Keyword(s):  
Optimal Trajectory ◽  
Trajectory Generation ◽  
Autonomous Driving ◽  
Map Algorithm ◽  
Road Map

scholarly journals Optimal Trajectory Generation for a Space Robot Manipulator by DP

1993 ◽  
Vol 29 (10) ◽  
pp. 1184-1190 ◽  
Author(s):  
Isao YAMAGUCHI ◽  
Takashi KIDA ◽  
Seiya UENO ◽  
Masaki TANAKA
Keyword(s):  
Optimal Trajectory ◽  
Robot Manipulator ◽  
Trajectory Generation ◽  
Space Robot

Time-Optimal Trajectory Generation of Rotary Cranes with Load Sway Reduction Using Only Horizontal Boom Motion

2021 ◽  
Author(s):  
Abdallah Farrage ◽  
Hideki Takahashi ◽  
Kenichi Terauchi ◽  
Shintaro Sasai ◽  
Hitoshi Sakurai ◽  
...  
Keyword(s):  
Optimal Trajectory ◽  
Trajectory Generation ◽  
Time Optimal
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