Quantization of the rolling-body problem with applications to motion planning.
Yacine ChitourAlessia MarigoBenedetto PiccoliPublished in: CDC (2003)
Keyphrases
- motion planning
- degrees of freedom
- trajectory planning
- mobile robot
- path planning
- humanoid robot
- robot arm
- multi robot
- autonomous mobile robot
- robotic tasks
- belief space
- human body
- inverse kinematics
- collision free
- manipulation tasks
- robotic arm
- kinematic model
- mechanical systems
- obstacle avoidance
- mathematical model
- state space
- planning under uncertainty
- feature extraction
- configuration space