Configuration Space Decomposition for Scalable Proxy Collision Checking in Robot Planning and Control.
Mrinal VergheseNikhil DasYuheng ZhiMichael C. YipPublished in: CoRR (2022)
Keyphrases
- configuration space
- motion planning
- collision free
- path planning
- robotic arm
- degrees of freedom
- mobile robot
- end effector
- collision avoidance
- humanoid robot
- robot arm
- mathematical formalism
- joint space
- robotic systems
- path finding
- inverse kinematics
- hand eye
- robot teams
- visual servoing
- control system
- robot control
- autonomous robots
- dynamic environments
- robot manipulators
- control method
- multi robot
- heuristic search
- action selection
- planning problems
- control signals
- pose estimation
- d objects
- viewpoint