Technical reports, manuscripts and photographs document the early history of the University of Utah Computer Science Department.
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A Saddle Point Strategy for Path Planning | 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 emplo... | robots; robotics; motion planning, path planning; saddle point; c-space; quasi-newton | 1993 |
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