Listar por autor "Kirchner, Frank"
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Efficient Motion Planning for Mobile Manipulation in Planetary Exploration.
(UMA Editorial, 2024)Space is the main frontier to further expand our human civilization and our knowledge of the universe. Exploring space is challenging and expensive since humans are not biologically prepared to survive in the harsh conditions ... -
Multi-stage warm started optimal motion planning for over-actuated mobile platforms
Paz-Delgado, Gonzalo Jesús; Pérez-del-Pulgar-Mancebo, Carlos Jesús
; Azkarate, Martin; Kirchner, Frank; García-Cerezo, Alfonso José (Springer, 2023)
This work presents a computationally lightweight motion planner for over-actuated platforms. For this purpose, a general state-space model for mobile platforms with several kinematic chains is defined, which considers ...