Kinematic state estimation and motion planning for stochastic nonholonomic systems using the exponential map.
Wooram ParkYan LiuYu ZhouMatthew MosesGregory S. ChirikjianPublished in: Robotica (2008)
Keyphrases
- motion planning
- degrees of freedom
- state estimation
- kinematic model
- mechanical systems
- trajectory planning
- mobile robot
- inverse kinematics
- path planning
- robot arm
- configuration space
- humanoid robot
- particle filter
- robotic arm
- multi robot
- obstacle avoidance
- kalman filter
- pose estimation
- kalman filtering
- collision free
- visual tracking
- state space model
- robotic tasks
- object recognition
- end effector
- control law