Adaptive Sampling-based Motion Planning with Control Barrier Functions.
Ahmad AhmadCalin BeltaRoberto TronPublished in: CoRR (2022)
Keyphrases
- motion planning
- robotic arm
- mechanical systems
- degrees of freedom
- adaptive control
- control law
- path planning
- trajectory planning
- robot arm
- autonomous mobile robot
- mobile robot
- humanoid robot
- inverse kinematics
- manipulation tasks
- obstacle avoidance
- robotic tasks
- end effector
- belief space
- multi robot
- kinematic model
- potential field
- viewpoint
- collision free
- control system
- autonomous robots
- control method
- climbing robot
- motion control
- robot control
- control strategy
- multi modal
- spatio temporal
- three dimensional