A Convex Optimization Approach to Smooth Trajectories for Motion Planning with Car-Like Robots.
Zhijie ZhuEdward SchmerlingMarco PavonePublished in: CoRR (2015)
Keyphrases
- convex optimization
- motion planning
- collision free
- mobile robot
- multi robot
- humanoid robot
- configuration space
- path planning
- degrees of freedom
- trajectory planning
- manipulation tasks
- robot arm
- interior point methods
- low rank
- norm minimization
- robotic arm
- kinematic model
- primal dual
- inverse kinematics
- total variation
- mechanical systems
- collision avoidance
- convex optimization problems
- dynamic environments
- convex relaxation
- autonomous robots
- robotic tasks
- operator splitting
- video sequences
- image restoration
- higher order