Sparse roadmap spanners for asymptotically near-optimal motion planning.
Andrew DobsonKostas E. BekrisPublished in: Int. J. Robotics Res. (2014)
Keyphrases
- motion planning
- degrees of freedom
- path planning
- trajectory planning
- mobile robot
- robot arm
- humanoid robot
- robotic tasks
- autonomous mobile robot
- inverse kinematics
- multi robot
- robotic arm
- mechanical systems
- high dimensional
- configuration space
- potential field
- sparse representation
- real time
- obstacle avoidance
- belief space
- closed loop