Non-Smooth Control Barrier Navigation Functions for STL Motion Planning.
Ashkan ZehfrooshHerbert G. TannerPublished in: Frontiers Robotics AI (2022)
Keyphrases
- motion planning
- robotic arm
- mechanical systems
- obstacle avoidance
- mobile robot
- collision free
- path planning
- degrees of freedom
- robot arm
- humanoid robot
- trajectory planning
- autonomous vehicles
- potential field
- autonomous mobile robot
- kinematic model
- multi robot
- rough terrain
- configuration space
- robotic tasks
- control law
- underwater vehicles
- inverse kinematics
- manipulation tasks
- viewpoint
- climbing robot
- belief space
- collision avoidance
- robotic systems
- control system
- motion control
- end effector
- autonomous navigation
- robot control
- process control
- dynamic environments