Motion planning based on simultaneous perturbation stochastic approximation for mobile auditory robots.
Makoto KumonKeiichiro FukushimaSadaaki KunimatsuMitsuaki IshitobiPublished in: IROS (2010)
Keyphrases
- motion planning
- stochastic approximation
- mobile robot
- multi robot
- humanoid robot
- manipulation tasks
- collision free
- monte carlo
- path planning
- degrees of freedom
- trajectory planning
- robotic tasks
- robotic systems
- autonomous robots
- robotic arm
- policy iteration
- configuration space
- mechanical systems
- control law
- dynamic environments
- multi modal
- human motion
- human robot interaction
- theoretical guarantees
- least squares
- optimal solution
- three dimensional