A General, Fast, and Robust Implementation of the Time-Optimal Path Parameterization Algorithm
This provides a reliable solution for roboticists needing efficient path parameterization, though it appears incremental as it builds on existing TOPP methods.
The paper tackled the problem of dynamic singularities causing failures in Time-Optimal Path Parameterization (TOPP) algorithms for robotics, resulting in a general, fast, and robust open-source implementation demonstrated in various settings.
Finding the Time-Optimal Parameterization of a given Path (TOPP) subject to kinodynamic constraints is an essential component in many robotic theories and applications. The objective of this article is to provide a general, fast and robust implementation of this component. For this, we give a complete solution to the issue of dynamic singularities, which are the main cause of failure in existing implementations. We then present an open-source implementation of the algorithm in C++/Python and demonstrate its robustness and speed in various robotics settings.