Robust Optimization-based Motion Planning for high-DOF Robots under Sensing Uncertainty.
Carlos Quintero-PeñaAnastasios KyrillidisLydia E. KavrakiPublished in: ICRA (2021)
Keyphrases
- motion planning
- robust optimization
- mobile robot
- multi robot
- humanoid robot
- degrees of freedom
- manipulation tasks
- path planning
- chance constrained
- collision free
- mathematical programming
- trajectory planning
- robotic arm
- stochastic programming
- risk measures
- robot arm
- robotic tasks
- autonomous robots
- lot sizing
- robotic systems
- multi modal
- decision theory
- human robot interaction
- semidefinite programming
- collision avoidance
- inverse kinematics
- cooperative
- real robot
- end effector
- dynamic environments
- linear programming