A Differential Dynamic Programming-based Approach for Balancing Energy and Time Optimality in Motion Planning.
Yunshen HuangWenbo HeShen ZengPublished in: Allerton (2023)
Keyphrases
- motion planning
- dynamic programming
- degrees of freedom
- total energy
- mobile robot
- trajectory planning
- path planning
- robot arm
- humanoid robot
- energy consumption
- multi robot
- autonomous mobile robot
- robotic tasks
- mechanical systems
- obstacle avoidance
- configuration space
- inverse kinematics
- minimum energy
- manipulation tasks
- state space
- dynamic environments
- collision free
- belief space
- climbing robot
- ai planning
- real time
- infinite horizon
- optimal control
- markov decision processes
- video sequences