Convex Geometric Motion Planning on Lie Groups via Moment Relaxation.
Sangli TengAshkan JasourRam VasudevanMaani GhaffariPublished in: CoRR (2023)
Keyphrases
- motion planning
- lie group
- infinite dimensional
- finite dimensional
- geometric structure
- degrees of freedom
- mobile robot
- path planning
- humanoid robot
- euclidean space
- parameter space
- vector space
- vector field
- multi robot
- convex sets
- riemannian manifolds
- linear transformation
- convex optimization
- mean shift
- pose estimation
- objective function
- higher dimensional
- zernike moments
- low dimensional
- principal component analysis
- high dimensional