2

Manifolds are used in almost all robotics applications even if they are not modeled explicitly. We propose a differential geometric approach for optimizing trajectories on a Riemannian manifold with obstacles. The optimization problem depends on a …

Abstract One of the most challenging tasks for a flying robot is to autonomously navigate between target locations quickly and reliably while avoiding obstacles in its path, and with little to no a priori knowledge of the operating environment. This …