Can't Touch This: Real-Time, Safe Motion Planning and Control for Manipulators Under Uncertainty.
Jonathan MichauxPatrick D. HolmesBohao ZhangChe ChenBaiyue WangShrey SahgalTiancheng ZhangSidhartha DeyShreyas KousikRam VasudevanPublished in: CoRR (2023)
Keyphrases
- motion planning
- real time
- robotic arm
- degrees of freedom
- mechanical systems
- path planning
- control system
- mobile robot
- trajectory planning
- autonomous mobile robot
- robot arm
- control law
- multi robot
- robotic tasks
- end effector
- inverse kinematics
- humanoid robot
- adaptive control
- robotic systems
- obstacle avoidance
- robot control
- visual servoing
- control method
- kinematic model
- vision system
- autonomous robots
- decision theoretic
- optimal control
- dynamic environments
- spatio temporal