BPOMP: A Bilevel Path Optimization Formulation for Motion Planning.
Changhao WangHsien-Chung LinShiyu JinXinghao ZhuLiting SunMasayoshi TomizukaPublished in: ACC (2022)
Keyphrases
- motion planning
- collision free
- trajectory planning
- degrees of freedom
- path planning
- configuration space
- mobile robot
- robot arm
- optimization procedure
- robotic arm
- inverse kinematics
- autonomous mobile robot
- humanoid robot
- quadratic programming
- linear programming
- multi robot
- optimization problems
- obstacle avoidance
- robust optimization
- viewpoint
- mechanical systems
- bilevel programming
- three dimensional
- convex programming
- collision avoidance
- objective function
- real time
- belief space
- potential field
- constrained optimization
- robotic tasks