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This paper presents the applications of the Fast Marching and the Buffered Fast Marching Methods to solve typical control problems. Calculus of Variations and Optimal Control problems can be solved using the Euler-Lagrange or the Pontryagin equations and solving analytically or numerically the corresponding differential equations systems. The proposed method solves directly these control problems,...
This paper presents a new method to improve the trajectories based in the Voronoi fast marching method (VFM). It can be used to improve the smoothness and the length of the trajectories calculated with probabilistic methods with bad quality trajectories such as RRT or PRM. This way, it is possible to get the good properties of the RRT method as the fact that it can work in many dimensions with the...
To navigate in complex environments, a robot needs to reach a compromise between the need for having efficient and optimized trajectories and the need for reacting to unexpected events. This paper presents a new sensor based non-holonomic Path Planner which integrates the global motion planning and local obstacle avoidance capabilities. In the first step the safest areas in the environment are extracted...
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