Chance Constrained Motion Planning for High-Dimensional Robots.
Siyu DaiShawn SchaffertAshkan JasourAndreas G. HofmannBrian Charles WilliamsPublished in: ICRA (2019)
Keyphrases
- motion planning
- chance constrained
- high dimensional
- multi robot
- mobile robot
- humanoid robot
- stochastic programming
- manipulation tasks
- collision free
- path planning
- robust optimization
- multi modal
- knapsack problem
- chance constraints
- degrees of freedom
- computationally tractable
- multistage
- autonomous robots
- reverse logistics
- chance constrained programming
- control law
- robotic systems
- feature space
- linear program
- climbing robot
- robotic arm
- linear matrix inequality
- configuration space
- kernel function
- dynamic environments
- real time
- third party
- dynamic programming