Exact and Bounded Collision Probability for Motion Planning under Gaussian Uncertainty.
Antony ThomasFulvio MastrogiovanniMarco BagliettoPublished in: CoRR (2021)
Keyphrases
- motion planning
- collision free
- degrees of freedom
- path planning
- mobile robot
- probability theory
- robot arm
- conditional probabilities
- trajectory planning
- collision avoidance
- robotic tasks
- humanoid robot
- multi robot
- probability distribution
- inverse kinematics
- collision detection
- configuration space
- mechanical systems
- autonomous mobile robot
- obstacle avoidance
- belief functions
- robotic arm
- belief space
- manipulation tasks
- maximum likelihood
- potential field
- gaussian mixture model