Joint Sampling and Trajectory Optimization over Graphs for Online Motion Planning.
Kalyan Vasudev AlwalaMustafa MukadamPublished in: IROS (2021)
Keyphrases
- motion planning
- trajectory planning
- kinematic model
- configuration space
- degrees of freedom
- mobile robot
- collision free
- path planning
- robot arm
- humanoid robot
- joint optimization
- autonomous mobile robot
- mechanical systems
- robotic arm
- multi robot
- robotic tasks
- obstacle avoidance
- control law
- dynamic environments
- belief space
- potential field
- manipulation tasks
- inverse kinematics
- viewpoint
- real time