A Generalized Mixed-Integer Convex Program for Multilegged Footstep Planning on Uneven Terrain.
Bernardo Aceituno-CabezasJosé CappellettoJuan C. GriecoGerardo Fernández-LópezPublished in: CoRR (2016)
Keyphrases
- mixed integer
- rough terrain
- convex hull
- motion planning
- linear program
- quadratic program
- humanoid robot
- benders decomposition
- feasible solution
- lot sizing
- convex functions
- autonomous navigation
- continuous relaxation
- continuous variables
- lagrangian heuristic
- linear programming
- convex optimization
- degrees of freedom
- robot behavior
- path planning
- visual odometry
- particle swarm optimization
- mobile robot
- video sequences