LQR-trees: Feedback Motion Planning via Sums-of-Squares Verification.
Russ TedrakeIan R. ManchesterMark M. TobenkinJohn W. RobertsPublished in: Int. J. Robotics Res. (2010)
Keyphrases
- motion planning
- degrees of freedom
- trajectory planning
- mobile robot
- path planning
- robotic tasks
- robot arm
- humanoid robot
- robotic arm
- multi robot
- mechanical systems
- autonomous mobile robot
- obstacle avoidance
- model checking
- decision trees
- inverse kinematics
- configuration space
- optimal control
- belief space
- three dimensional
- manipulation tasks
- image sequences
- closed loop
- climbing robot