Using Lie group symmetries for fast corrective motion planning.
Konstantin SeilerSurya P. N. SinghSalah SukkariehHugh F. Durrant-WhytePublished in: Int. J. Robotics Res. (2012)
Keyphrases
- motion planning
- lie group
- lie algebra
- degrees of freedom
- mobile robot
- infinite dimensional
- vector field
- path planning
- humanoid robot
- euclidean space
- parameter space
- vector space
- multi robot
- linear transformation
- riemannian manifolds
- mean shift
- finite dimensional
- covariance matrices
- geometric structure
- feature points
- feature space
- rigid motion
- euclidean distance
- machine learning
- data points
- tensor field
- high resolution