Risk-Aware Motion Planning and Control Using CVaR-Constrained Optimization.
Astghik HakobyanGyeong Chan KimInsoon YangPublished in: IEEE Robotics Autom. Lett. (2019)
Keyphrases
- constrained optimization
- motion planning
- robotic arm
- mechanical systems
- risk measures
- degrees of freedom
- mobile robot
- path planning
- trajectory planning
- robot arm
- constrained optimization problems
- risk averse
- penalty function
- objective function
- augmented lagrangian
- constraint handling
- humanoid robot
- autonomous mobile robot
- unconstrained optimization
- obstacle avoidance
- multi robot
- interval analysis
- portfolio optimization
- penalty functions
- control strategy
- kinematic model
- control system
- end effector
- robotic tasks
- visual servoing
- multi objective
- iterative methods
- inverse kinematics
- portfolio selection
- lagrange multipliers
- robust optimization
- autonomous robots
- simulated annealing
- evolutionary algorithm
- three dimensional