A near-optimal decoupling principle for nonlinear stochastic systems arising in robotic path planning and control.
Mohammadhussein RafieisakhaeiSuman ChakravortyP. R. KumarPublished in: CDC (2017)
Keyphrases
- path planning
- stochastic systems
- mobile robot
- aerial vehicles
- autonomous vehicles
- path planning algorithm
- obstacle avoidance
- conservation laws
- robotic systems
- multiple robots
- dynamic environments
- multi robot
- autonomous robots
- unmanned aerial vehicles
- motion planning
- collision avoidance
- stochastic models
- control system
- robot control
- dynamic and uncertain environments
- degrees of freedom
- optimal path
- robot path planning
- search and rescue
- confidence intervals
- human operators
- configuration space
- motor control
- adaptive control
- optimal control
- reinforcement learning