Motion planning around obstacles with convex optimization.
Tobia MarcucciMark PetersenDavid von WrangelRuss TedrakePublished in: Sci. Robotics (2023)
Keyphrases
- convex optimization
- motion planning
- collision free
- degrees of freedom
- path planning
- mobile robot
- interior point methods
- humanoid robot
- low rank
- robotic tasks
- primal dual
- trajectory planning
- total variation
- multi robot
- robotic arm
- obstacle avoidance
- convex relaxation
- convex optimization problems
- configuration space
- mechanical systems
- semidefinite program
- operator splitting
- high quality
- markov random field
- convex formulation