Task-dependent distribution and constrained optimization of via-points for smooth robot motions.
Chang Hyun SungManuel MühligMichael GiengerYoji UnoPublished in: ICRA (2015)
Keyphrases
- constrained optimization
- stationary points
- unconstrained optimization
- mobile robot
- constraint handling
- constrained optimization problems
- penalty function
- objective function
- augmented lagrangian
- configuration space
- interval analysis
- penalty functions
- inequality constraints
- humanoid robot
- feature points
- image sequences
- denoising
- multi objective
- optical flow
- video sequences
- genetic algorithm
- neural network