The Convex Feasible Set Algorithm for Real Time Optimization in Motion Planning.
Changliu LiuChung-Yen LinMasayoshi TomizukaPublished in: SIAM J. Control. Optim. (2018)
Keyphrases
- motion planning
- real time
- convex hull
- np hard
- configuration space
- path planning
- optimal solution
- multi robot
- nonlinear programming problems
- strictly convex
- degrees of freedom
- optimization problems
- dynamic programming
- objective function
- expectation maximization
- particle swarm optimization
- variational inequalities
- global convergence
- search space