Geometric motion planning: The local connection, Stokes' theorem, and the importance of coordinate choice.
Ross L. HattonHowie ChosetPublished in: Int. J. Robotics Res. (2011)
Keyphrases
- motion planning
- degrees of freedom
- path planning
- trajectory planning
- mobile robot
- robot arm
- humanoid robot
- inverse kinematics
- robotic tasks
- robotic arm
- autonomous mobile robot
- multi robot
- mechanical systems
- obstacle avoidance
- potential field
- belief space
- manipulation tasks
- configuration space
- machine learning
- control law
- collision free
- multi modal
- three dimensional