Growing Convex Collision-Free Regions in Configuration Space using Nonlinear Programming.
Mark PetersenRuss TedrakePublished in: CoRR (2023)
Keyphrases
- nonlinear programming
- configuration space
- collision free
- motion planning
- path planning
- quadratic function
- degrees of freedom
- linear programming
- variational inequalities
- optimization problems
- mobile robot
- linear constraints
- collision avoidance
- humanoid robot
- multi robot
- convex sets
- convex hull
- dynamic environments
- sensitivity analysis
- convex optimization
- semidefinite programming
- path finding
- objective function
- optimal path
- exact algorithms
- multi modal
- input image
- high dimensional
- video sequences