Dynamics-driven adaptive abstraction for reactive high-level mission and motion planning.
Jonathan A. DeCastroVasumathi RamanHadas Kress-GazitPublished in: ICRA (2015)
Keyphrases
- feature space
- motion planning
- high level
- degrees of freedom
- low level
- mobile robot
- trajectory planning
- humanoid robot
- path planning
- robot arm
- autonomous mobile robot
- robotic tasks
- kinematic model
- robotic arm
- mechanical systems
- climbing robot
- obstacle avoidance
- control law
- multi robot
- configuration space
- belief space
- principal component analysis
- inverse kinematics
- multi modal
- human robot interaction
- dynamic model
- manipulation tasks
- dynamic environments
- state space
- machine learning