Robust feedback motion planning via contraction theory.
Sumeet SinghBenoit LandryAnirudha MajumdarJean-Jacques E. SlotineMarco PavonePublished in: Int. J. Robotics Res. (2023)
Keyphrases
- motion planning
- degrees of freedom
- path planning
- trajectory planning
- mobile robot
- mechanical systems
- configuration space
- multi robot
- humanoid robot
- robot arm
- robotic tasks
- autonomous mobile robot
- three dimensional
- belief space
- inverse kinematics
- robotic arm
- collision free
- obstacle avoidance
- climbing robot
- manipulation tasks
- control law
- computer vision