Finding Locally Optimal, Collision-Free Trajectories with Sequential Convex Optimization.
John SchulmanJonathan HoAlex X. LeeIbrahim AwwalHenry BradlowPieter AbbeelPublished in: Robotics: Science and Systems (2013)
Keyphrases
- convex optimization
- collision free
- locally optimal
- path planning
- motion planning
- globally optimal
- mobile robot
- collision avoidance
- dynamic environments
- interior point methods
- low rank
- convex relaxation
- total variation
- convex optimization problems
- free space
- primal dual
- norm minimization
- machine learning
- semidefinite program
- multiscale
- degrees of freedom
- pairwise
- multi robot
- regression model
- motion estimation