Wasserstein Distributionally Robust Risk-Constrained Iterative MPC for Motion Planning: Computationally Efficient Approximations.
Alireza ZolanvariAshish CherukuriPublished in: CDC (2023)
Keyphrases
- motion planning
- computationally efficient
- degrees of freedom
- robot arm
- mobile robot
- path planning
- humanoid robot
- trajectory planning
- control law
- robotic tasks
- robotic arm
- autonomous mobile robot
- multi robot
- dynamic model
- collision free
- viewpoint
- real time
- obstacle avoidance
- robust optimization
- configuration space
- dynamic environments
- spatio temporal