Optimal trajectory generation under homology class constraints

Soonkyum Kim, Koushil Sreenath, Subhrajit Bhattacharya, Vijay Kumar. Optimal trajectory generation under homology class constraints. In Proceedings of the 51th IEEE Conference on Decision and Control, CDC 2012, December 10-13, 2012, Maui, HI, USA. pages 3157-3164, IEEE, 2012. [doi]

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