This paper presents the energy-optimal trajectories for skid-steer rovers on hard ground,
without obstacles. We obtain 29 trajectory structures that are sufficient to describe minimum …

We present the first analytical solution method for finding a time-optimal trajectory between
any given pair of configurations for a three-wheeled omni-directional vehicle in an obstacle …

In this work, we analyze and present an algorithm to find shortest-paths for generic rigid
bodies. We derived the necessary conditions for optimality using Lagrange multipliers, and …

This paper investigates the connection between the kinematics of robots arms and the
shortest paths for mobile robots. Lagrange multipliers are used to show that the shortest …

This paper presents an approach to finding the time-optimal trajectories for a simple rigid-
body model of a mobile robot in an obstacle-free plane. Previous work has used …

A skid-steer rover's power consumption is highly dependent on the turning radius of its path.
For example, a point turn consumes a lot of power compared to a straight-line motion. Thus …

This work presents the analysis of the properties of the shortest path control synthesis for the
rigid body system. The systems we focus on in this work have only kinematic constraints …

We study motion planning problems, finding trajectories that connect two configurations of a
system, from two different perspectives: optimality and survivability. For the problem of …

This paper presents a method of acquiring the optimum path for a short distance for car-like
vehicle. Whenever a vehicle needs to move from one location to another that is close with …