Generalizing Trajectory Retiming to Quadratic Objective Functions
Gerry Chen,Frank Dellaert,Seth Hutchinson,Gerry Chen,Frank Dellaert,Seth Hutchinson
Trajectory retiming is the task of computing a feasible time parameterization to traverse a path. It is commonly used in the decoupled approach to trajectory optimization whereby a path is first found, then a retiming algorithm computes a speed profile that satisfies kino-dynamic and other constraints. While trajectory retiming is most often formulated with the minimum-time objective (i.e. travers...
