Efficient collision checking in sampling-based motion planning via safety certificates.
Joshua BialkowskiMichael W. OtteSertac KaramanEmilio FrazzoliPublished in: Int. J. Robotics Res. (2016)
Keyphrases
- motion planning
- degrees of freedom
- collision free
- trajectory planning
- path planning
- mobile robot
- robot arm
- humanoid robot
- autonomous mobile robot
- robotic arm
- robotic tasks
- multi robot
- access control
- configuration space
- inverse kinematics
- collision avoidance
- obstacle avoidance
- belief space
- manipulation tasks
- mechanical systems
- climbing robot
- real time
- viewpoint