Time-optimal multi-stage motion planning with guaranteed collision avoidance via an open-loop game formulation.
Ryo TakeiHaomiao HuangJerry DingClaire J. TomlinPublished in: ICRA (2012)
Keyphrases
- multistage
- collision avoidance
- motion planning
- path planning
- open loop
- collision free
- mobile robot
- dynamic programming
- closed loop
- optimal path
- feedback control
- dynamic environments
- single stage
- degrees of freedom
- control system
- optimal control
- lot sizing
- obstacle avoidance
- lagrange multipliers
- inverted pendulum
- multi robot
- optimal policy
- path finding
- control law
- fuzzy neural network
- linear programming
- input output
- search algorithm