Integrated planning and control for graceful navigation of shape-accelerated underactuated balancing mobile robots.
Umashankar NagarajanGeorge KantorRalph L. HollisPublished in: ICRA (2012)
Keyphrases
- mobile robot
- motion planning
- obstacle avoidance
- mechanical systems
- navigation tasks
- path planning
- collision free
- autonomous vehicles
- indoor environments
- unknown environments
- autonomous robots
- motion control
- robot control
- autonomous navigation
- receding horizon
- visual servoing
- control system
- dynamic environments
- underwater vehicles
- shape model
- outdoor environments
- robotic systems
- planning problems
- shape descriptors
- robot navigation
- control strategy
- potential field
- formation control
- collision avoidance
- planning process
- degrees of freedom
- humanoid robot
- heuristic search
- multiple robots
- mobile robotics
- multi robot
- unstructured environments
- reinforcement learning
- topological map
- shape analysis
- route planning
- process control
- shape features