Optimality in robot motion

Jean-Paul Laumond, Nicolas Mansard, Jean-Bernard Lasserre
2014 Communications of the ACM  
The paper emphasizes the distinction between an optimal robot motion and a robot motion resulting from the application of optimization techniques. Most of the time, optimal motions do not exist and when they exist they are difficult to compute. A clear distinction should be made between optimal motion planning and motion optimization.
doi:10.1145/2629535 fatcat:6wzj3g4pwbcvhp5xq65xupz75y