Convex Geometric Motion Planning on Lie Groups via Moment Relaxation.
Sangli TengAshkan JasourRam VasudevanMaani Ghaffari JadidiPublished in: Robotics: Science and Systems (2023)
Keyphrases
- motion planning
- lie group
- infinite dimensional
- degrees of freedom
- geometric structure
- finite dimensional
- path planning
- mobile robot
- parameter space
- humanoid robot
- convex sets
- euclidean space
- vector space
- vector field
- multi robot
- linear transformation
- riemannian manifolds
- convex optimization
- mean shift
- covariance matrices
- convex hull
- higher dimensional
- multi modal
- shape analysis
- high dimensional
- zernike moments
- facial expressions
- spatio temporal