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Towards a Unified Approach to Motion Planning for Dynamic Underactuated Mechanical Systems with Non-holonomic Constraints.
Elie A. Shammas
Howie Choset
Alfred A. Rizzi
Published in:
Int. J. Robotics Res. (2007)
Keyphrases
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motion planning
mechanical systems
degrees of freedom
path planning
mobile robot
collision free
trajectory planning
humanoid robot
robotic tasks
dynamic environments
obstacle avoidance
multi robot
robotic arm
kinematic model
configuration space
physical constraints
viewpoint