Quantization of the rolling-body problem with applications to motion planning.
Yacine ChitourAlessia MarigoBenedetto PiccoliPublished in: Syst. Control. Lett. (2005)
Keyphrases
- motion planning
- degrees of freedom
- mobile robot
- path planning
- trajectory planning
- autonomous mobile robot
- humanoid robot
- robot arm
- multi robot
- human body
- robotic tasks
- robotic arm
- obstacle avoidance
- inverse kinematics
- belief space
- manipulation tasks
- mechanical systems
- configuration space
- joint angles
- machine learning
- collision free
- mathematical model
- pose estimation