Navigation of Concentric Tube Continuum Robots using Optimal Control.
Siva Prasad Chakri DhanakotiJohn H. MaddocksMartin WeiserPublished in: ICINCO (2022)
Keyphrases
- optimal control
- dynamic programming
- service robots
- mobile robot
- control problems
- feedback control
- control strategy
- risk sensitive
- autonomous robots
- robot navigation
- infinite horizon
- collision free
- control law
- brownian motion
- multi robot
- reinforcement learning
- optimal control problems
- class of nonlinear systems
- robotic systems
- stochastic control
- human robot interaction
- motion planning
- lyapunov function
- path planning
- dynamic environments