Path planning for autonomous vehicles in arbitrary environments requires a guarantee of safety, but this can be impractical to ensure in real-time when the vehicle is described with a high-fidelity model. To address this problem, this paper develops a method to perform trajectory design by considering a low-fidelity model that accounts for model mismatch. The presented method begins by computin...

Hybrid mechanical press is an innovative sheet metal stamping press that has the advantages of both mechanical press and the hydraulic press. This paper focuses on the control of the hybrid mechanical press, including trajectory planning, trajectory optimization and real time feedback control. The trajectory planning is based on inverse kinematics and cubic spline interpolation. The trajectory ...

In this paper we describe how robot trajectory planning can be formulated as a semi-infinite programming (SIP) problem. The formulation as a SIP problem allowed us to treat the problem with one of the three main classes of methods for solving SIP, the discretization class. Two of the robotics trajectory planning problems formulated were coded in the SIPAMPL [1] environment which is publicly ava...

We present a novel optimization-based motion planning algorithm for high degree-offreedom (DOF) robots in dynamic environments. Our approach decomposes the highdimensional motion planning problem into a sequence of low-dimensional sub-problems. We compute collision-free and smooth paths using optimization-based planning and trajectory perturbation for each sub-problem. The overall algorithm doe...