Optimal Sampling-Based Motion Planning under Differential Constraints: the Drift Case with Linear Affine Dynamics.
Edward SchmerlingLucas JansonMarco PavonePublished in: CoRR (2014)
Keyphrases
- motion planning
- degrees of freedom
- mobile robot
- trajectory planning
- path planning
- robot arm
- humanoid robot
- collision free
- linear constraints
- closed form solutions
- kinematic model
- robotic arm
- robotic tasks
- multi robot
- obstacle avoidance
- dynamic programming
- inverse kinematics
- autonomous mobile robot
- optimal path
- belief space
- closed form
- control law
- physical constraints
- mechanical systems
- optimal control
- dynamic model
- multi modal
- computer vision
- affine epipolar geometry
- manipulation tasks
- configuration space
- image sequences