Discrete Optimization of Adaptive State Lattices for Iterative Motion Planning on Unmanned Ground Vehicles.
Benned HedegaardEthan FahnestockJacob ArkinAshwin MenonThomas M. HowardPublished in: IROS (2021)
Keyphrases
- motion planning
- path planning
- discrete optimization
- ground vehicles
- mobile robot
- trajectory planning
- degrees of freedom
- obstacle avoidance
- combinatorial optimization problems
- multi robot
- robotic tasks
- unmanned aerial vehicles
- humanoid robot
- collision avoidance
- real time
- graph matching
- dynamic environments
- collision free
- robotic arm
- climbing robot
- mechanical systems
- multi modal
- evolutionary algorithm
- computer vision