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Online Motion Planning based on Nonlinear Model Predictive Control with Non-Euclidean Rotation Groups.
Christoph Rösmann
Artemi Makarow
Torsten Bertram
Published in:
CoRR (2020)
Keyphrases
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motion planning
degrees of freedom
trajectory planning
mobile robot
robot arm
path planning
humanoid robot
robotic tasks
autonomous mobile robot
multi robot
configuration space
robotic arm
manipulation tasks
mechanical systems
obstacle avoidance
inverse kinematics
viewpoint
control law