Hybrid Safety Certificate for Fast Collision Checking in Sampling-Based Motion Planning.
Shenglei ShiJianKui ChenYiqun LiPublished in: IEEE Robotics Autom. Lett. (2023)
Keyphrases
- motion planning
- collision free
- degrees of freedom
- mobile robot
- trajectory planning
- path planning
- humanoid robot
- robot arm
- autonomous mobile robot
- multi robot
- obstacle avoidance
- collision avoidance
- robotic arm
- robotic tasks
- manipulation tasks
- mechanical systems
- belief space
- potential field
- configuration space
- collision detection
- inverse kinematics
- kinematic model