Nonholonomic Motion Planning as Efficient as Piano Mover's.
David NistérJaikrishna SoundararajanYizhou WangHarshad SanePublished in: CoRR (2023)
Keyphrases
- motion planning
- degrees of freedom
- trajectory planning
- path planning
- mobile robot
- robot arm
- humanoid robot
- robotic arm
- robotic tasks
- control law
- belief space
- autonomous mobile robot
- inverse kinematics
- mechanical systems
- dynamical systems
- obstacle avoidance
- high dimensional
- multi modal
- potential field
- manipulation tasks
- kinematic model