A robustified two-stage time-optimal controller co-optimizes feedback gains and state covariances in a fixed-grid first stage and minimizes travel time in a variable-grid second stage, with online replanning.
Time-optimal motions of robots in assembly tasks,
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Robustified Time-optimal Point-to-point Motion Planning and Control under Uncertainty
A robustified two-stage time-optimal controller co-optimizes feedback gains and state covariances in a fixed-grid first stage and minimizes travel time in a variable-grid second stage, with online replanning.