Trajectory Planning with Safety Guaranty for a Multirotor based on the Forward and Backward Reachability Analysis.
Hoseong SeoClark Youngdong SonDongjae LeeH. Jin KimPublished in: ICRA (2020)
Keyphrases
- forward and backward
- trajectory planning
- reachability analysis
- motion planning
- model checking
- markov decision processes
- obstacle avoidance
- robot manipulators
- path planning
- timed automata
- incremental algorithms
- dynamic environments
- dynamic programming
- state space
- mobile robot
- greedy search
- situational awareness
- global optimization
- fuzzy neural network
- temporal reasoning
- degrees of freedom
- multi modal
- optimization problems