A convex optimization approach to smooth trajectories for motion planning with car-like robots.
Zhijie ZhuEdward SchmerlingMarco PavonePublished in: CDC (2015)
Keyphrases
- convex optimization
- motion planning
- collision free
- mobile robot
- multi robot
- humanoid robot
- path planning
- configuration space
- manipulation tasks
- degrees of freedom
- trajectory planning
- interior point methods
- robot arm
- low rank
- robotic arm
- total variation
- kinematic model
- dynamic environments
- robotic tasks
- convex optimization problems
- inverse kinematics
- norm minimization
- convex relaxation
- primal dual
- mechanical systems
- collision avoidance
- image processing
- human robot interaction
- spatio temporal
- motion control