Real-Time Quad-Rotor Path Planning Using Convex Optimization and Compound State-Triggered Constraints.
Michael SzmukDanylo MalyutaTaylor P. ReynoldsMargaret Skye MceowenBehçet AçikmesePublished in: IROS (2019)
Keyphrases
- path planning
- convex optimization
- real time
- mobile robot
- aerial vehicles
- convex constraints
- autonomous vehicles
- collision avoidance
- dynamic environments
- multi robot
- obstacle avoidance
- robot path planning
- low rank
- path planning algorithm
- interior point methods
- primal dual
- dynamic and uncertain environments
- optimal path
- motion planning
- convex relaxation
- potential field
- convex optimization problems
- state space
- constrained optimization
- collision free
- norm minimization
- total variation
- vision system
- unmanned aerial vehicles
- configuration space
- multiple robots
- degrees of freedom
- dead ends