Puttichai Lertkultanon

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Path-velocity decomposition is an intuitive yet powerful approach to address the complexity of kinodynamic motion planning. The difficult trajectory planning problem is solved in two separate steps : first, find a path in the configuration space that satisfies the geometric constraints, and second, find a time-parameterization of that path satisfying the(More)
Path-velocity decomposition is an intuitive yet powerful approach to address the complexity of kinodynamic motion planning. The difficult trajectory planning problem is solved in two separate and simpler steps : first, find a path in the configuration space that satisfies the geometric constraints (path planning), and second, find a time-parameterization of(More)
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