Unified Terrestrial/Aerial Motion Planning for HyTAQs via NMPC.
Tong WuYimin ZhuLixian ZhangJianan YangYihang DingPublished in: IEEE Robotics Autom. Lett. (2023)
Keyphrases
- motion planning
- lidar data
- degrees of freedom
- path planning
- trajectory planning
- mobile robot
- receding horizon
- robot arm
- multi robot
- humanoid robot
- mechanical systems
- obstacle avoidance
- control law
- robotic tasks
- robotic arm
- manipulation tasks
- nonlinear model predictive control
- clustering scheme
- autonomous mobile robot
- inverse kinematics
- nonlinear systems
- collision free
- air traffic control
- configuration space