Costmap-based Local Motion Planning using Deep Reinforcement Learning.
Luís GarroteJoão PerdizUrbano J. NunesPublished in: RO-MAN (2023)
Keyphrases
- motion planning
- reinforcement learning
- degrees of freedom
- path planning
- robot arm
- trajectory planning
- mobile robot
- robotic tasks
- humanoid robot
- state space
- robotic arm
- inverse kinematics
- machine learning
- configuration space
- multi robot
- model free
- autonomous mobile robot
- mechanical systems
- belief space
- learning algorithm
- markov decision processes
- optimal policy
- collision free
- dynamic programming
- video sequences
- nearest neighbor searching
- climbing robot
- robot control
- obstacle avoidance
- multi modal
- kinematic model