Real-time motion planning and decision-making for a group of differential drive robots under connectivity constraints using robust MPC and mixed-integer programming.
Angelo Caregnato-NetoMarcos Ricardo Omena de Albuquerque MáximoRubens Junqueira Magalhães AfonsoPublished in: CoRR (2022)
Keyphrases
- multi modal
- motion planning
- humanoid robot
- mixed integer programming
- real time
- decision making
- mixed integer
- mobile robot
- multi robot
- trajectory planning
- manipulation tasks
- lot sizing
- column generation
- collision free
- path planning
- degrees of freedom
- production planning
- vision system
- constraint satisfaction
- robotic arm
- climbing robot
- configuration space
- autonomous robots
- feasible solution
- reinforcement learning
- decision makers
- robotic systems
- linear program