Kinodynamic%20Motion%20Planning

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Kinodynamic Motion Planning
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Motion constraints
???
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Configuration space tangent space
q
y
x
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Kinodynamic constraints

• Nonholonomic constraints
• Non-integrable relationship between configuration
  and velocity
• Example. Wheeled vehicle
• Dynamic constraints

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Path transformation
Can this always be done? Sometimes (paper by
Svestka Overmars)
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Reparametrization of motion constraints
(papers by Hsu et al. and Donald et al.)
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Car example