Obstacle Identification and Ellipsoidal Decomposition for Fast Motion Planning in Unknown Dynamic Environments.
Mehmetcan KaymazNazim Kemal UrePublished in: CoRR (2022)
Keyphrases
- dynamic environments
- motion planning
- mobile robot
- path planning
- trajectory planning
- obstacle avoidance
- robot arm
- collision free
- collision avoidance
- robotic tasks
- autonomous agents
- belief space
- multi robot
- potential field
- autonomous mobile robot
- autonomous robots
- control law
- robotic arm
- unknown environments
- mechanical systems
- configuration space
- agent systems
- real environment
- humanoid robot
- robotic systems
- degrees of freedom
- inverse kinematics
- sensory information
- highly dynamic environments
- changing environment
- manipulation tasks
- climbing robot
- real time
- single agent
- viewpoint