Publication Type |
technical report |
School or College |
College of Engineering |
Department |
Computing, School of |
Creator |
Tolani, Deepak Sukhdev |
Title |
A Saddle Point Strategy for Path Planning |
Date |
1993 |
Description |
This thesis explores a new strategy for addressing the local minimum problem. As a prerequisite, a smooth potential function with a well-defined analytical gradient is devised. The availability of exact derivatives permits the use of more sophisticated optimization methods than those typically employed by potential planners. Through minor modifications to a trust-region Quasi-Newton algorithm, a procedure is obtained for locating saddle points as well as local minima. |
Type |
Text |
Subject |
robots; robotics; motion planning, path planning; saddle point; c-space; quasi-newton |
Subject LCSH |
Robots--Motion; Robots--Programming |
Language |
eng |
Bibliographic Citation |
Tolani, D. S. (1993). A Saddle Point Strategy for Path Planning. |
Series |
University of Utah Computer Science Technical Report |
Relation is Part of |
ARPANET |
Format Medium |
application/pdf |
Format Extent |
41,028,144 bytes |
File Name |
Tolani-A_Saddle_Point.pdf |
Conversion Specifications |
Original scanned with Kirtas 2400 and saved as 400 ppi uncompressed TIFF. PDF generated by Adobe Acrobat Pro X for CONTENTdm display |
ARK |
ark:/87278/s6rn592d |
Setname |
ir_computersa |
ID |
103153 |
Reference URL |
https://collections.lib.utah.edu/ark:/87278/s6rn592d |