Sampling-based Motion Planning via Control Barrier Functions.
Guang YangBee VangZachary SerlinCalin BeltaRoberto TronPublished in: CoRR (2019)
Keyphrases
- motion planning
- robotic arm
- mechanical systems
- degrees of freedom
- mobile robot
- trajectory planning
- path planning
- robot arm
- humanoid robot
- robotic tasks
- autonomous mobile robot
- kinematic model
- obstacle avoidance
- inverse kinematics
- multi robot
- configuration space
- collision free
- control system
- robot control
- control law
- belief space
- human robot interaction
- autonomous robots
- potential field