An open-source motion planning framework for mobile manipulators using constraint-based task space control with linear MPC.
Simon StelterGeorg BartelsMichael BeetzPublished in: IROS (2022)
Keyphrases
- motion planning
- open source
- robotic arm
- mobile robot
- path planning
- degrees of freedom
- mechanical systems
- robot arm
- trajectory planning
- belief space
- obstacle avoidance
- master slave
- core components
- humanoid robot
- configuration space
- robotic tasks
- inverse kinematics
- planning under uncertainty
- manipulation tasks
- adaptive control
- computer vision
- control law
- autonomous robots
- control strategy
- closed loop
- control system
- mobile devices