Safe Feedback Motion Planning: A Contraction Theory and ℒ1-Adaptive Control Based Approach.
Arun LakshmananAditya GahlawatNaira HovakimyanPublished in: CDC (2020)
Keyphrases
- motion planning
- adaptive control
- control law
- control theory
- nonlinear systems
- degrees of freedom
- mobile robot
- robot arm
- path planning
- trajectory planning
- feedback control
- dynamic environments
- humanoid robot
- control method
- robotic arm
- variable structure
- robotic tasks
- adaptive controller
- visual servoing
- reinforcement learning
- chaotic systems
- autonomous mobile robot
- obstacle avoidance
- inverse kinematics
- collision free
- multi robot
- manipulation tasks
- video sequences
- configuration space
- mechanical systems
- closed loop
- pose estimation
- vision system
- autonomous control