An Opportunistic Strategy for Motion Planning in the Presence of Soft Task Constraints.
Massimo CefaloPaolo FerrariGiuseppe OrioloPublished in: IEEE Robotics Autom. Lett. (2020)
Keyphrases
- motion planning
- degrees of freedom
- path planning
- mobile robot
- trajectory planning
- robot arm
- robotic tasks
- robotic arm
- humanoid robot
- inverse kinematics
- multi robot
- autonomous mobile robot
- collision free
- obstacle avoidance
- hard constraints
- configuration space
- manipulation tasks
- mechanical systems
- climbing robot
- feature extraction
- belief space
- dynamic environments