Safe Motion Planning with Tubes and Contraction Metrics.
Sumeet SinghHiroyasu TsukamotoBrett Thomas LopezSoon-Jo ChungJean-Jacques E. SlotinePublished in: CDC (2021)
Keyphrases
- motion planning
- climbing robot
- degrees of freedom
- robot arm
- mobile robot
- trajectory planning
- path planning
- humanoid robot
- multi robot
- autonomous mobile robot
- inverse kinematics
- robotic arm
- belief space
- belief revision
- collision free
- gaussian mixture model
- mechanical systems
- potential field
- configuration space
- robotic tasks
- obstacle avoidance
- real time
- belief change
- dynamic environments
- object detection
- control system