Motion planning with constraints using configuration space approximations.
Ioan Alexandru SucanSachin ChittaPublished in: IROS (2012)
Keyphrases
- motion planning
- configuration space
- degrees of freedom
- path planning
- trajectory planning
- mobile robot
- robot arm
- mathematical formalism
- humanoid robot
- inverse kinematics
- autonomous mobile robot
- mechanical systems
- pose estimation
- robotic tasks
- robotic arm
- manipulation tasks
- motion tracking
- obstacle avoidance
- multi robot
- dynamic environments
- real time
- climbing robot
- end effector
- search algorithm
- feature extraction
- computer vision