Reactive Task and Motion Planning for Robust Whole-Body Dynamic Locomotion in Constrained Environments.
Ye ZhaoYinan LiLuis SentisUfuk TopcuJun LiuPublished in: CoRR (2018)
Keyphrases
- motion planning
- degrees of freedom
- dynamic environments
- mobile robot
- humanoid robot
- path planning
- robotic tasks
- trajectory planning
- robotic systems
- robot arm
- rough terrain
- obstacle avoidance
- robotic arm
- multi robot
- collision free
- potential field
- mechanical systems
- inverse kinematics
- configuration space
- belief space
- autonomous mobile robot
- multi modal
- autonomous navigation
- manipulation tasks
- control law
- pose estimation