STOMP: Stochastic trajectory optimization for motion planning.
Mrinal KalakrishnanSachin ChittaEvangelos A. TheodorouPeter PastorStefan SchaalPublished in: ICRA (2011)
Keyphrases
- motion planning
- trajectory planning
- degrees of freedom
- path planning
- configuration space
- collision free
- stochastic optimization
- mobile robot
- robot arm
- humanoid robot
- robotic tasks
- autonomous mobile robot
- robotic arm
- kinematic model
- obstacle avoidance
- inverse kinematics
- stochastic programming
- mechanical systems
- multi robot
- dynamic environments
- climbing robot
- manipulation tasks
- viewpoint
- control law
- pose estimation
- state space
- object recognition