A Topology-Based Path Similarity Metric and its Application to Sampling-Based Motion Planning.
Jory DennyKaiwen ChenHanglin ZhouPublished in: IROS (2018)
Keyphrases
- motion planning
- similarity metric
- configuration space
- collision free
- degrees of freedom
- path planning
- trajectory planning
- mobile robot
- robot arm
- similarity measure
- optimal path
- robotic arm
- multi robot
- similarity metrics
- obstacle avoidance
- humanoid robot
- shortest path
- inverse kinematics
- euclidean metric
- belief space
- multi modal
- autonomous mobile robot
- robotic tasks
- potential field
- manipulation tasks
- affinity graph
- collision avoidance
- climbing robot