Safe Motion Planning against Multimodal Distributions based on a Scenario Approach.
Heejin AhnColin ChenIan M. MitchellMaryam KamgarpourPublished in: CoRR (2021)
Keyphrases
- motion planning
- degrees of freedom
- mobile robot
- path planning
- trajectory planning
- humanoid robot
- robot arm
- autonomous mobile robot
- multi robot
- belief space
- robotic arm
- inverse kinematics
- multi modal
- robotic tasks
- probability distribution
- obstacle avoidance
- kinematic model
- collision free
- potential field
- configuration space
- pose estimation
- dynamic environments
- mechanical systems
- viewpoint