Reachability-based synthesis of feedback policies for motion planning under bounded disturbances.
Jerry DingEugene LiHaomiao HuangClaire J. TomlinPublished in: ICRA (2011)
Keyphrases
- motion planning
- degrees of freedom
- trajectory planning
- mobile robot
- robot arm
- path planning
- robotic tasks
- humanoid robot
- power system
- optimal policy
- multi robot
- state space
- control law
- autonomous mobile robot
- mechanical systems
- belief space
- obstacle avoidance
- inverse kinematics
- climbing robot
- robotic arm
- manipulation tasks
- video sequences
- potential field
- configuration space