Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: A sequential approach for speed planning under jerk constraints   In this paper we discuss a sequential algorithm for the computation of a
minimum-time speed profile over a given path, under velocity, acceleration and
jerk constraints. Such a problem arises in industrial contexts such as
automated warehouses, where LGVs need to perform assigned tasks as fast as
possible in order to increase productivity. It can be reformulated as an
optimization problem with a convex objective function, linear velocity and
acceleration constraints, and non-convex jerk constraints, which, thus,
represent the main source of difficulty. While existing non-linear programming
(NLP) solvers can be employed for the solution of this problem, it turns out
that the performance and robustness of such solvers can be enhanced by the
sequential line-search algorithm proposed in this paper. At each iteration a
feasible direction, with respect to the current feasible solution, is computed,
and a step along such direction is taken in order to compute the next iterate.
The computation of the feasible direction is based on the solution of a
linearized version of the problem, and the solution of the linearized problem,
through an approach which strongly exploits its special structure, represents
the main contribution of this work. The efficiency of the proposed approach
with respect to existing NLP solvers is proved through different computational
experiments.

15
The categories of this paper are: nucl-ex
35
The categories of this paper are: mtrl-th
10
The categories of this paper are: q-bio
12
The categories of this paper are: nucl-th
6
The categories of this paper are: astro-ph
24
The categories of this paper are: dg-ga
28
The categories of this paper are: alg-geom
1
The categories of this paper are: cs
33
The categories of this paper are: plasm-ph
4
The categories of this paper are: cond-mat
8
The categories of this paper are: hep-ex
32
The categories of this paper are: atom-ph
27
The categories of this paper are: comp-gas
3
The categories of this paper are: physics
0
The categories of this paper are: hep-ph
34
The categories of this paper are: chem-ph