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Geometric trajectory filtering via numerical conformal mapping 
Abstract 
The paper studies the problem which we ref … The paper studies the problem which we refer to as geometric trajectory filtering, where only trajectories that satisfy the local safety constraints are selected from a library of trajectories. The goal is to speed up primitivebased motion planning while still maintaining a relatively a large collection of motion primitives. One way to solve this problem is to obtain a proper (preferably smooth) function, referred to as the containment indicator function, that describes the shape of the free space. To construct the containment indicator function for an arbitrary shape, the paper uses conformal mapping to transform the original shape of interest to a simpler target shape (e.g. disk, rectangle), which can then be characterized by elementary functions. Computational methods for finding the desired conformal maps are studied. It is shown that they can be formulated as convex optimization problems, whose solution can be obtained efficiently. hose solution can be obtained efficiently. +


Authors  Shuo Han and Richard M Murray + 
ID  2011b + 
Source  2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Submitted + 
Tag  hm11iros + 
Title  Geometric trajectory filtering via numerical conformal mapping + 
Type  Conference Paper + 
Categories  Papers 
Modification date This property is a special property in this wiki.

15 May 2016 06:16:08 + 
URL This property is a special property in this wiki.

http://www.cds.caltech.edu/~murray/preprints/hm11iros_s.pdf + 
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Geometric trajectory filtering via numerical conformal mapping +  Title 
