Wasserstein distributionally robust risk-constrained iterative MPC for motion planning: computationally efficient approximations.
Alireza ZolanvariAshish CherukuriPublished in: CoRR (2023)
Keyphrases
- motion planning
- computationally efficient
- degrees of freedom
- trajectory planning
- humanoid robot
- robot arm
- path planning
- mobile robot
- robotic tasks
- mechanical systems
- manipulation tasks
- robotic arm
- robust optimization
- climbing robot
- autonomous mobile robot
- inverse kinematics
- dynamic model
- belief space
- multi robot
- machine learning
- dynamic programming