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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 ...