Sampling-Based Motion Planning under Kinematic Loop-Closure Constraints.

Juan Cortés Thierry Siméon

Published in: WAFR (2004)

Keyphrases

motion planning
degrees of freedom
inverse kinematics
trajectory planning
configuration space

kinematic model
mobile robot
path planning
robot arm
end effector

humanoid robot
control law
robotic tasks
multi robot
real time

mechanical systems
pose estimation
obstacle avoidance
climbing robot
dynamic programming