Robust online motion planning via contraction theory and convex optimization.
Sumeet SinghAnirudha MajumdarJean-Jacques E. SlotineMarco PavonePublished in: ICRA (2017)
Keyphrases
- convex optimization
- motion planning
- norm minimization
- degrees of freedom
- low rank
- trajectory planning
- low rank matrix
- path planning
- mobile robot
- interior point methods
- total variation
- humanoid robot
- convex optimization problems
- robotic arm
- configuration space
- mechanical systems
- convex relaxation
- primal dual
- climbing robot
- object detection
- objective function
- face recognition
- semidefinite program
- operator splitting
- machine learning