Optimal motion planning for a class of hybrid dynamical systems with impacts.
Andrew W. LongTodd D. MurpheyKevin M. LynchPublished in: ICRA (2011)
Keyphrases
- dynamical systems
- motion planning
- trajectory planning
- mobile robot
- degrees of freedom
- differential equations
- dynamic systems
- path planning
- robot arm
- state space
- humanoid robot
- nonlinear dynamical systems
- agent environment
- qualitative simulation
- multi robot
- control law
- mechanical systems
- configuration space
- dynamic programming
- robotic arm
- robotic tasks
- partially observable
- collision free
- obstacle avoidance
- optimal solution
- predictive state representations
- linear quadratic
- optimal control
- viewpoint