BITKOMO: Combining Sampling and Optimization for Fast Convergence in Optimal Motion Planning.
Jay KamatJoaquim Ortiz de HaroMarc ToussaintFlorian T. PokornyAndreas OrtheyPublished in: IROS (2022)
Keyphrases
- motion planning
- degrees of freedom
- mobile robot
- robot arm
- path planning
- collision free
- trajectory planning
- humanoid robot
- multi robot
- robotic tasks
- inverse kinematics
- autonomous mobile robot
- dynamic programming
- convergence rate
- global convergence
- robotic arm
- configuration space
- viewpoint
- optimal solution
- mechanical systems
- feature extraction
- moving objects
- kinematic model