Underactuated Waypoint Trajectory Optimization for Light Painting Photography
Christian Eilers,Jonas Eschmann,Robin Menzenbach,Boris Belousov,Fabio Muratore,Jan Peters,Christian Eilers,Jonas Eschmann,Robin Menzenbach,Boris Belousov,Fabio Muratore,Jan Peters
Despite their abundance in robotics and nature, underactuated systems remain a challenge for control engineering. Trajectory optimization provides a generally applicable solution, however its efficiency strongly depends on the skill of the engineer to frame the problem in an optimizer-friendly way. This paper proposes a procedure that automates such problem reformulation for a class of tasks in wh...
