Joint Sampling and Trajectory Optimization over Graphs for Online Motion Planning.
Kalyan Vasudev AlwalaMustafa MukadamPublished in: CoRR (2020)
Keyphrases
- motion planning
- trajectory planning
- kinematic model
- degrees of freedom
- collision free
- configuration space
- path planning
- robot arm
- mobile robot
- joint optimization
- multi robot
- humanoid robot
- robotic tasks
- autonomous mobile robot
- robotic arm
- obstacle avoidance
- inverse kinematics
- mechanical systems
- real time
- belief space
- manipulation tasks
- collision avoidance
- control law
- dynamic environments
- feature extraction
- robot manipulators
- joint angles
- object recognition