Wasserstein Distributionally Robust Motion Planning and Control with Safety Constraints Using Conditional Value-at-Risk.
Astghik HakobyanInsoon YangPublished in: ICRA (2020)
Keyphrases
- motion planning
- robotic arm
- mechanical systems
- degrees of freedom
- path planning
- mobile robot
- robot arm
- trajectory planning
- humanoid robot
- multi robot
- kinematic model
- autonomous mobile robot
- robust optimization
- robotic tasks
- belief space
- collision free
- climbing robot
- manipulation tasks
- control method
- robotic systems
- configuration space
- obstacle avoidance
- dynamic environments
- feature space
- machine learning
- real time