# Notes

Here are notes on some papers and books in the field of robotics, with a particular focus on motion planning.

## Modern Robotics: Mechanics, Planning, and Control (Chapter 13)

Published:

Wheeled mobile robots may be classified in two major categories, omnidirectional and nonholonomic. We focus on nonholonomic mobile robots in the rest of the note.

Published:

talk

## TRAC-IK: An open-source library for improved solving of generic inverse kinematics

Published:

• SQP: $arg \underset{q \in \bf{R}^n}{\text{min}} (q_{seed}-q)^T(q_{seed}-q)$ subject to $f_i(q) \leq b_i, i=1,\dots,m$
• SQP-DQ: the objective is the task space pose error.
• KDL-RR: KDL ik with random restarts

## Trajectory planning for bertha—a local, continuous method

Published:

The solution trajectory is the constrained extremum of an objective function that is designed to express dynamic feasibility and comfort. Static and dynamic obstacle constraints are incorporated in the form of polygons. The constraints are carefully designed to ensure that the solution converges to a single, global optimum.

## Sampling-based methods for motion planning with constraints

Published:

This paper considers geometrical constraints that reduce the number of degrees of freedom.

## Motion planning and control Misc.

Published:

• The notion of configuration space is the key insight to Lagrangian mechanics of rigid bodies, as it allows dynamics to be expressed using the precise degrees of freedom of a body. [1]

Published:

TODO