Motion planning with sequential convex optimization and convex collision checking.
John SchulmanYan DuanJonathan HoAlex X. LeeIbrahim AwwalHenry BradlowJia PanSachin PatilKen GoldbergPieter AbbeelPublished in: Int. J. Robotics Res. (2014)
Keyphrases
- convex optimization
- motion planning
- collision free
- degrees of freedom
- mobile robot
- interior point methods
- path planning
- trajectory planning
- convex programming
- humanoid robot
- convex optimization problems
- collision avoidance
- convex relaxation
- convex constraints
- low rank
- convex sets
- total variation
- primal dual
- convex formulation
- robotic tasks
- configuration space
- multi robot
- augmented lagrangian
- norm minimization
- semidefinite program
- climbing robot
- dynamic environments
- quadratic program
- alternating direction method of multipliers
- operator splitting
- image processing