| 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 |
