Optimal motion planning for a tethered robot: Efficient preprocessing for fast shortest paths queries.
Oren SalzmanDan HalperinPublished in: ICRA (2015)
Keyphrases
- motion planning
- shortest path
- path planning
- collision free
- optimal path
- mobile robot
- preprocessing
- humanoid robot
- trajectory planning
- degrees of freedom
- robot arm
- multi robot
- spatial networks
- autonomous mobile robot
- robotic arm
- configuration space
- robotic tasks
- manipulation tasks
- flow graph
- shortest path algorithm
- inverse kinematics
- path length
- obstacle avoidance
- path queries
- query processing
- dynamic programming
- finding the shortest path
- climbing robot
- minimum length
- travel time
- collision avoidance
- road network
- mechanical systems
- vision system
- optimal solution
- goal state
- random walk
- viewpoint