CAT-RRT: Motion Planning that Admits Contact One Link at a Time.
Nataliya NechyporenkoCaleb EscobedoShreyas KadekodiAlessandro RonconePublished in: IROS (2023)
Keyphrases
- motion planning
- degrees of freedom
- trajectory planning
- mobile robot
- path planning
- robot arm
- humanoid robot
- robotic tasks
- mechanical systems
- robotic arm
- multi robot
- configuration space
- obstacle avoidance
- collision free
- belief space
- inverse kinematics
- control law
- potential field
- human computer interaction
- climbing robot
- real time
- ai planning
- manipulation tasks
- autonomous mobile robot
- multi modal