Identification and Representation of Homotopy Classes of Trajectories for Search-based Path Planning in 3D.
Subhrajit BhattacharyaMaxim LikhachevVijay KumarPublished in: Robotics: Science and Systems (2011)
Keyphrases
- path planning
- configuration space
- mobile robot
- path finding
- collision avoidance
- motion planning
- collision free
- dead ends
- path planning algorithm
- dynamic and uncertain environments
- dynamic environments
- search algorithm
- obstacle avoidance
- multi robot
- degrees of freedom
- autonomous navigation
- robot path planning
- potential field
- optimal path
- trajectory planning
- path planner
- aerial vehicles
- multiple robots
- search space
- indoor environments
- search and rescue
- landmark recognition
- vision system
- optimal solution