Global/local motion planning based on Dynamic Trajectory Reconfiguration and Dynamical Systems for Autonomous Surgical Robots.
Narcís SayolsAlessio SozziNicola PiccinelliAlbert HernansanzAlicia CasalsMarcello BonfèRiccardo MuradorePublished in: ICRA (2020)
Keyphrases
- motion planning
- dynamical systems
- collision free
- trajectory planning
- mobile robot
- path planning
- multi robot
- humanoid robot
- dynamic environments
- degrees of freedom
- manipulation tasks
- robotic systems
- collision avoidance
- nonlinear dynamical systems
- robot arm
- obstacle avoidance
- state space
- dynamic systems
- differential equations
- control law
- robotic arm
- configuration space
- mechanical systems
- inverse kinematics
- phase space
- robotic tasks
- predictive state representations
- linear dynamical systems
- autonomous robots
- kinematic model
- agent environment
- service robots
- partially observable
- multi modal
- qualitative differential equations