CIAO$^\star$: MPC-based Safe Motion Planning in Predictable Dynamic Environments.
Tobias SchoelsPer RutquistLuigi PalmieriAndrea ZanelliKai Oliver ArrasMoritz DiehlPublished in: CoRR (2020)
Keyphrases
- dynamic environments
- motion planning
- path planning
- mobile robot
- trajectory planning
- robotic tasks
- robot arm
- degrees of freedom
- autonomous agents
- multi robot
- collision free
- collision avoidance
- obstacle avoidance
- autonomous mobile robot
- robotic arm
- closed loop
- inverse kinematics
- potential field
- belief space
- humanoid robot
- dynamic model
- real environment
- control law
- agent systems
- manipulation tasks
- path finding
- optimal path
- mechanical systems
- climbing robot
- single agent
- unknown environments
- real time
- autonomous robots
- spatio temporal