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A basic motion planning problem is to compute a continuous path that connects a start configuration S and a goal configuration G, while avoiding collision with known obstacles. The robot and obstacle geometry is described in a 2D or 3D workspace , while the motion is represented as a path in (possibly higher-dimensional) configuration space .
In linear programming, a discipline within applied mathematics, a basic solution is any solution of a linear programming problem satisfying certain specified technical conditions. For a polyhedron P {\displaystyle P} and a vector x ∗ ∈ R n {\displaystyle \mathbf {x} ^{*}\in \mathbb {R} ^{n}} , x ∗ {\displaystyle \mathbf {x} ^{*}} is a ...
Later they extended the technique to many other cases, for example, to 3D open-chain kinematic robots under full Lagrangian dynamics. [2] [3] More recently, many practical heuristic algorithms based on stochastic optimization and iterative sampling were developed, by a wide range of authors, to address the kinodynamic planning problem. These ...
Top-down approach: This is the direct fall-out of the recursive formulation of any problem. If the solution to any problem can be formulated recursively using the solution to its sub-problems, and if its sub-problems are overlapping, then one can easily memoize or store the solutions to the sub-problems in a table (often an array or hashtable ...
An analytic solution to an inverse kinematics problem is a closed-form expression that takes the end-effector pose as input and gives joint positions as output, = (). Analytical inverse kinematics solvers can be significantly faster than numerical solvers and provide more than one solution, but only a finite number of solutions, for a given end ...
In projectile motion, the horizontal motion and the vertical motion are independent of each other; that is, neither motion affects the other. This is the principle of compound motion established by Galileo in 1638, [ 1 ] and used by him to prove the parabolic form of projectile motion.
The simplest solution to the tautochrone problem is to note a direct relation between the angle of an incline and the gravity felt by a particle on the incline. A particle on a 90° vertical incline undergoes full gravitational acceleration g {\displaystyle g} , while a particle on a horizontal plane undergoes zero gravitational acceleration.
Generalized assignment problem; Integer programming. The variant where variables are required to be 0 or 1, called zero-one linear programming, and several other variants are also NP-complete [2] [3]: MP1 Some problems related to Job-shop scheduling; Knapsack problem, quadratic knapsack problem, and several variants [2] [3]: MP9