FIRM: Sampling-based feedback motion-planning under motion uncertainty and imperfect measurements.
Ali-akbar Agha-mohammadiSuman ChakravortyNancy M. AmatoPublished in: Int. J. Robotics Res. (2014)
Keyphrases
- motion planning
- degrees of freedom
- trajectory planning
- path planning
- humanoid robot
- mobile robot
- measurement errors
- robotic tasks
- measurement noise
- robot arm
- autonomous mobile robot
- inverse kinematics
- obstacle avoidance
- configuration space
- control law
- mechanical systems
- multi robot
- belief space
- measurement error
- robotic arm
- manipulation tasks
- climbing robot
- kinematic model
- normal flow
- three dimensional
- image measurements
- collision free
- multi modal
- object detection
- optical flow
- high dimensional