Version 1.0, August 31, 2001, Copyright, Hugh Jack 1993-2001
The use of slack variables has been suggested vaguely in a paper by S.C.Zaharakis and A.Guez [1988]. This uses a 2D environment filled with boxes, in which an A* algorithm is used to find paths. This method finds paths considering bang-bang (full on or full off) control theory, and the manipulator dynamics, to find minimum time paths. The implementation was done on a MAC II, and found results in under a minute.