Feedback-motion-planning with simulation-based LQR-trees.
Philipp ReistPascal PreiswerkRuss TedrakePublished in: Int. J. Robotics Res. (2016)
Keyphrases
- motion planning
- degrees of freedom
- mobile robot
- trajectory planning
- robotic tasks
- path planning
- decision trees
- humanoid robot
- robot arm
- autonomous mobile robot
- obstacle avoidance
- mechanical systems
- robotic arm
- optimal control
- configuration space
- belief space
- inverse kinematics
- multi robot
- manipulation tasks
- robotic systems
- closed loop
- kinematic model
- object detection
- nearest neighbor searching
- climbing robot