Efficient Path Planning and Tracking for Multi-Modal Legged-Aerial Locomotion Using Integrated Probabilistic Road Maps (PRM) and Reference Governors (RG).
Eric SihiteBenjamin MottisPaul GhanemAlireza RamezaniMorteza GharibPublished in: CoRR (2022)
Keyphrases
- multi modal
- path planning
- motion planning
- mobile robot
- autonomous vehicles
- humanoid robot
- path planning algorithm
- legged locomotion
- rough terrain
- dynamic environments
- collision free
- degrees of freedom
- potential field
- probabilistic relational
- multi robot
- collision avoidance
- unmanned aerial vehicles
- multi modality
- particle filter
- audio visual
- obstacle avoidance
- dynamic and uncertain environments
- high dimensional
- cross modal
- aerial images
- optimal path
- robotic systems
- object tracking
- feature space
- autonomous navigation
- urban areas
- indoor environments
- configuration space
- road network
- kalman filter
- single modality
- mean shift
- uni modal