Avoidance of Convex and Concave Obstacles With Convergence Ensured Through Contraction.
Lukas HuberAude BillardJean-Jacques E. SlotinePublished in: IEEE Robotics Autom. Lett. (2019)
Keyphrases
- piecewise linear
- convexity properties
- convex functions
- objective function
- convex concave
- convergence rate
- stationary points
- globally convergent
- belief change
- dual variables
- convex optimization
- convergence speed
- linear programming
- neural network
- convex hull
- global convergence
- free space
- obstacle detection
- convex sets
- risk minimization
- case study
- genetic algorithm
- alternating direction
- data sets