Sampling-Based Motion Planning for Uncertain High-Dimensional Systems via Adaptive Control.
Christos K. VerginisDimos V. DimarogonasLydia E. KavrakiPublished in: WAFR (2021)
Keyphrases
- motion planning
- adaptive control
- control law
- high dimensional
- mechanical systems
- degrees of freedom
- mobile robot
- robot arm
- path planning
- trajectory planning
- autonomous mobile robot
- feedback control
- humanoid robot
- robotic tasks
- multi robot
- inverse kinematics
- robotic arm
- configuration space
- object recognition
- nonlinear systems
- climbing robot
- dynamic environments
- obstacle avoidance
- control method
- complex systems
- multi modal
- manipulation tasks
- feature space
- reinforcement learning
- variable structure
- image sequences
- autonomous control
- learning algorithm