Tight Motion Planning by Riemannian Optimization for Sliding and Rolling with Finite Number of Contact Points.
Dror LivnatMichael M. BilevichDan HalperinPublished in: ICRA (2024)
Keyphrases
- finite number
- motion planning
- extreme points
- quasiconvex
- degrees of freedom
- trajectory planning
- path planning
- humanoid robot
- robot arm
- mobile robot
- robotic arm
- convex sets
- mechanical systems
- autonomous mobile robot
- multi robot
- data points
- robotic tasks
- inverse kinematics
- point sets
- shape analysis
- geodesic distance
- lower bound
- arbitrarily close
- computer vision
- average cost
- multi modal
- feature space
- collision avoidance
- finite dimensional
- mathematical model