kinodynamic
English edit
Etymology edit
Coined in a 1993 Journal of the ACM paper (40(5): 1048-1066) by Bruce Donald, Pat Xavier, John Canny, and John Reif. Presumably from kinematic and dynamic.
Adjective edit
kinodynamic (not comparable)
- Of or relating to a class of problems, in robotics and motion planning, for which velocity, acceleration, and force/torque bounds must be satisfied, together with kinematic constraints such as avoiding obstacles.
- 1993, Bruce R. Donald, Pat Xavier, John Canny, John Reif, “Kinodynamic Motion Planning”, in Journal of the ACM[1], volume 40, number 5, , pages 1048–1066:
- Kinodynamic planning attempts to solve a robot motion problem subject to simultaneous kinematic and dynamics constraints. In the general problem, given a robot system, we must find a minimal-time trajectory that goes from a start position and velocity to a goal position and velocity. While exact solutions to this problem are not known, we provide the first provably-good approximation algorithm. and show that it runs in polynomial time.
- 2016, Oktay Arslan, Karl Berntorp, Panagiotis Tsiotras, “Sampling-based Algorithms for Optimal Motion Planning Using Closed-loop Prediction”, in arXiv[2]:
- Currently, state-of-the-art methods evolve around kinodynamic variants of popular sampling-based algorithms, such as Rapidly-exploring Random Trees (RRTs).