Motion Planning and Goal Assignment for Robot Fleets Using Trajectory Optimization.
João SalvadoRobert KrugMasoumeh MansouriFederico PecoraPublished in: IROS (2018)
Keyphrases
- motion planning
- collision free
- trajectory planning
- path planning
- mobile robot
- humanoid robot
- degrees of freedom
- configuration space
- robot arm
- autonomous mobile robot
- multi robot
- obstacle avoidance
- robotic tasks
- robotic arm
- potential field
- kinematic model
- inverse kinematics
- collision avoidance
- mechanical systems
- end effector
- manipulation tasks
- belief space
- rough terrain
- robot manipulators
- unknown environments
- d objects
- spatio temporal