Sampling-Based Motion and Symbolic Action Planning with geometric and differential constraints.
Erion PlakuGregory D. HagerPublished in: ICRA (2010)
Keyphrases
- motion planning
- geometric constraints
- mobile robot
- path planning
- degrees of freedom
- recognizing human actions
- humanoid robot
- physical constraints
- planning problems
- space time
- motion analysis
- ai planning
- geometric structure
- motion estimation
- external events
- geometrical constraints
- temporal continuity
- motion segmentation
- human motion
- human actions
- motion capture
- recognition of human actions
- smoothness constraint
- geometric information
- motion model
- reasoning about actions
- heuristic search
- camera motion
- enforced hill climbing
- derived predicates
- geometric algebra
- symbolic representation
- indirect effects
- image measurements
- projective geometry
- multibody
- plan execution
- action selection
- image sequences
- optical flow