Reactive task and motion planning for robust whole-body dynamic locomotion in constrained environments.
Ye ZhaoYinan LiLuis SentisUfuk TopcuJun LiuPublished in: Int. J. Robotics Res. (2022)
Keyphrases
- motion planning
- degrees of freedom
- mobile robot
- dynamic environments
- humanoid robot
- trajectory planning
- robotic tasks
- robot arm
- collision free
- path planning
- robotic systems
- autonomous mobile robot
- robotic arm
- multi robot
- rough terrain
- configuration space
- control law
- potential field
- collision avoidance
- mechanical systems
- pose estimation
- inverse kinematics
- belief space
- obstacle avoidance
- autonomous robots
- manipulation tasks
- kinematic model