Safety-Aware Optimal Control in Motion Planning.
Han WangXuda DingJianping HeKostas MargellosAntonis PapachristodoulouPublished in: CoRR (2022)
Keyphrases
- optimal control
- motion planning
- mobile robot
- degrees of freedom
- dynamic programming
- control problems
- path planning
- trajectory planning
- humanoid robot
- robot arm
- feedback control
- infinite horizon
- control strategy
- multi robot
- control law
- autonomous mobile robot
- robotic tasks
- obstacle avoidance
- inverse kinematics
- manipulation tasks
- optimal control problems
- class of nonlinear systems
- reinforcement learning
- robotic arm
- configuration space
- climbing robot
- collision free
- multi modal
- control system
- viewpoint
- computer vision