High-dimensional Winding-Augmented Motion Planning with 2D topological task projections and persistent homology.
Florian T. PokornyDanica KragicLydia E. KavrakiKen GoldbergPublished in: ICRA (2016)
Keyphrases
- social network analysis
- motion planning
- persistent homology
- high dimensional
- topological features
- link prediction
- morse theory
- degrees of freedom
- mobile robot
- trajectory planning
- computational geometry
- humanoid robot
- path planning
- similarity search
- multi robot
- three dimensional
- configuration space
- multi modal
- robotic tasks
- robotic arm
- climbing robot
- nearest neighbor
- mechanical systems
- feature space
- vector field
- data points
- convex hull
- pose estimation
- collision free
- training samples
- virtual environment
- supervised learning
- machine learning