Heteroclinic optimal control solutions for attitude motion planning.
James D. BiggsCraig MacleanAlbert CaubetPublished in: AuCC (2013)
Keyphrases
- optimal control
- motion planning
- degrees of freedom
- path planning
- mobile robot
- control law
- dynamic programming
- control problems
- feedback control
- robot arm
- control strategy
- trajectory planning
- humanoid robot
- optimal control problems
- robotic tasks
- class of nonlinear systems
- reinforcement learning
- robotic arm
- multi robot
- inverse kinematics
- infinite horizon
- obstacle avoidance
- mechanical systems
- configuration space
- brownian motion
- manipulation tasks
- autonomous mobile robot
- viewpoint
- climbing robot
- average cost
- dynamical systems
- pose estimation
- optimal policy
- dynamic environments
- control system
- high dimensional