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Description: |
Motion planning with obstacle avoidance is an important task in the field of robotics. Many methods for autonomous vehicle navigation with obstacle avoidance have been developed in the last few decades. I will talk about a variational obstacle avoidance problem on a Riemannian manifold and present optimality necessary conditions. In particular, I will consider the problem for Lie groups and derive the Poincaré representation of the Euler-Lagrange equations. I will illustrate the results with the examples of a planar rigid body and a unicycle as a motivation for the choice of a particular Lie group framework.
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Date: |
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| Start Time: |
11:00 |
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Speaker: |
Margarida Camarinha (CMUC, Universidade de Coimbra)
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Institution: |
CMUC, Universidade de Coimbra
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Place: |
Sala 2.5
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| Research Groups: |
-Geometry
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See more:
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<Main>
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