Efficient Kinematic Planning for Mobile Manipulators with Non-holonomic Constraints Using Optimal Control.
Markus GiftthalerFarbod FarshidianTimothy SandyLukas StadelmannJonas BuchliPublished in: CoRR (2017)
Keyphrases
- optimal control
- motion planning
- degrees of freedom
- control law
- dynamic programming
- control problems
- feedback control
- physical constraints
- risk sensitive
- mobile robot
- path planning
- class of nonlinear systems
- lyapunov function
- mobile devices
- reinforcement learning
- brownian motion
- infinite horizon
- dynamic model
- control strategy
- constraint programming
- learning algorithm