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A Collision-Free MPC for Whole-Body Dynamic Locomotion and Manipulation.
Jia-Ruei Chiu
Jean-Pierre Sleiman
Mayank Mittal
Farbod Farshidian
Marco Hutter
Published in:
ICRA (2022)
Keyphrases
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collision free
mobile robot
dynamic environments
path planning
motion planning
degrees of freedom
collision avoidance
potential field
path planner
high resolution
linear programming
shortest path
closed loop
robot control