Multi-Goal Path Optimization for Robotic Systems with Redundancy based on the Traveling Salesman Problem with Neighborhoods
Finding an optimal path for a redundant robotic system to visit a sequence of several goal locations is a complex optimization problem and poses two main technical challenges. Because of the redundancy in the system, the robot can assume an infinite number of goal configurations to reach each goal l...
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| Format: | Others |
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Research Showcase @ CMU
2012
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| Online Access: | http://repository.cmu.edu/dissertations/154 http://repository.cmu.edu/cgi/viewcontent.cgi?article=1154&context=dissertations |