What is it about?
An approach that enables real-time 3D path planning for robots in complex environments and with moving obstacles.
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Why is it important?
This approach enables a very fast convex optimization process within a space of complex geometrical constraints including moving objects.
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This page is a summary of: Admissible Subspace TRajectory Optimizer (ASTRO) for Autonomous Robot Operations on the Space Station, January 2014, American Institute of Aeronautics and Astronautics (AIAA),
DOI: 10.2514/6.2014-1290.
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