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Safe Motion Planning Against Multimodal Distributions Based on a Scenario Approach.
Heejin Ahn
Colin Chen
Ian M. Mitchell
Maryam Kamgarpour
Published in:
IEEE Control. Syst. Lett. (2022)
Keyphrases
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motion planning
degrees of freedom
trajectory planning
path planning
humanoid robot
mobile robot
robot arm
multi modal
robotic tasks
multi robot
autonomous mobile robot
configuration space
belief space
inverse kinematics
robotic arm
probability distribution
collision free
collision avoidance
dynamic environments