Trajectory optimization for a class of robots belonging to Constrained Collaborative Mobile Agents (CCMA) family
Nitish Kumar,Stelian Coros,Nitish Kumar,Stelian Coros
We present a novel class of robots belonging to Constrained Collaborative Mobile Agents (CCMA) family which consists of ground mobile bases with non-holonomic constraints. Moreover, these mobile robots are constrained by closed-loop kinematic chains consisting of revolute joints which can be either passive or actuated. We also describe a novel trajectory optimization method which is general with r...
