CHOMP: Gradient optimization techniques for efficient motion planning.

Nathan D. Ratliff Matthew Zucker J. Andrew Bagnell Siddhartha S. Srinivasa

Published in: ICRA (2009)

Keyphrases

motion planning
path planning
degrees of freedom
mobile robot
humanoid robot
trajectory planning
robot arm
autonomous mobile robot
inverse kinematics
vision system
robotic arm
obstacle avoidance
robotic tasks
mechanical systems
belief space
high resolution
multi modal
control system