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More simply told, * MSc., Department of Machining and Automation, Faculty of Mechanical Engineering, University of Zilina, Univerzitna 1, 010 26
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A motion plan is denoted by ρ = (γ1 . . . γk), where γi ∈ Γ for all i ∈ {1, . . . , k}. Given the current location of the robot l0
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As explained in [11], minimizing (24) for R and t is equivalent to minimizing the following expression for R 1 N N∑ i=1 ||q ′ i −Rp ′ i||2, (
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