3D modeling, distance and gradient computation for motion planning: A direct GPGPU approach.

René Wagner Udo Frese Berthold Bäuml

Published in: ICRA (2013)

Keyphrases

motion planning
degrees of freedom
trajectory planning
robot arm
mobile robot
path planning
robotic tasks

autonomous mobile robot
humanoid robot
robotic arm
multi robot
configuration space
inverse kinematics

belief space
obstacle avoidance
energy aware
collision free
mechanical systems
climbing robot

nearest neighbor searching
high dimensional
potential field
object detection
wireless sensor networks
spatio temporal