Fail-Safe Motion Planning for Online Verification of Autonomous Vehicles Using Convex Optimization.
Christian PekMatthias AlthoffPublished in: IEEE Trans. Robotics (2021)
Keyphrases
- convex optimization
- motion planning
- autonomous vehicles
- path planning
- obstacle avoidance
- mobile robot
- degrees of freedom
- interior point methods
- multi robot
- structured environments
- real time
- total variation
- primal dual
- humanoid robot
- dynamic environments
- convex optimization problems
- feature vectors
- configuration space
- norm minimization
- object recognition
- multiresolution
- video sequences
- feature points
- image processing
- computer vision
- machine learning
- pose estimation
- multi modal