A Saddle Point Strategy for Path Planning

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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
Date Created 2016-05-26
Date Modified 2016-05-31
ID 103153
Reference URL https://collections.lib.utah.edu/ark:/87278/s6rn592d
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