Concepedia

Underactuated System Trajectory Optimization

Underactuated System Trajectory Optimization is a trajectory optimization framework that specifically addresses the challenge of generating optimal motion plans for underactuated systems, where the number of independent control inputs is fewer than the number of configuration variables, necessitating exploitation of system dynamics and nonholonomic constraints to achieve desired behaviors.

41

Publications

1.5K

Citations

110

Authors

62

Institutions

Publications per year

2017–2026

19

Parents

Publications

41

Smooth transition of AUV motion control: From fully-actuated to under-actuated configuration

Xianbo Xiang, L. Lapierre, Bruno Jouvencel · Robotics and Autonomous Systems · 2014 · 217 citations · Full text

, , +16

Robust MPC for tracking constrained unicycle robots with additive disturbances

Zhongqi Sun, Li Dai, Kun Liu et al. · Automatica · 2018 · 159 citations

, , +15

Differential dynamic programming with nonlinear constraints

Zhaoming Xie, C. Karen Liu, Kris Hauser · 2017 · 105 citations

, , +16

Minimum-time control of the Acrobot

Gary Boone · 2002 · 83 citations

, , +17

Evaluating direct transcription and nonlinear optimization methods for robot motion planning

Infoscience (Ecole Polytechnique Fédérale de Lausanne) · 2015 · 61 citations

, , +15

1–5 of 41

Authors

110

  1. XL
    Xuzhi Lai

    China University of Geosciences, China

    3 publications · 72 citations

    3

    h-index

  2. MW
    Min Wu

    China University of Geosciences, China

    3 publications · 72 citations

    3

    h-index

  3. SK
    Scott Kuindersma

    Harvard University, United States

    2 publications · 104 citations

    2

    h-index

  4. LW
    Lejun Wang

    Georgia Institute of Technology, United States

    2 publications · 37 citations

    2

    h-index

  5. TD
    Todd D. Murphey

    Northwestern University, United States

    2 publications · 39 citations

    2

    h-index

1–5 of 110

Institutions

62

  1. Shandong Institute of Automation

    Jinan, China

    3 h-index

    12 publications

    288 citations

  2. China University of Geosciences

    Wuhan, China

    3 h-index

    13 publications

    316 citations

  3. Harvard University

    Cambridge, United States

    2 h-index

    7 publications

    362 citations

  4. Beihang University

    Beijing, China

    2 h-index

    4 publications

    82 citations

  5. Georgia Institute of Technology

    Atlanta, United States

    2 h-index

    3 publications

    293 citations

  6. Norwegian University of Science and Technology

    Trondheim, Norway

    1 h-index

    2 publications

    116 citations

  7. Chongqing University of Posts and Telecommunications

    Chongqing, China

    1 h-index

    1 publications

    12 citations

  8. Indian Institute of Technology Patna

    Patna, India

    1 h-index

    2 publications

    20 citations

1–8 of 62

Venues

  1. IFAC Proceedings Volumes

    4 publications · 122 citations

    4

    h-index

  2. Aerospace Science and Technology

    AST · 2 publications · 65 citations

    3

    h-index

  3. Robotics and Autonomous Systems

    2 publications · 227 citations

    2

    h-index

  4. Advances in Space Research

    2 publications · 56 citations

    2

    h-index

  5. Chalmers Publication Library (Chalmers University of Technology)

    Repository · 1 publications · 13 citations

    1

    h-index

1–5