Motion planning using hierarchical aggregation of workspace obstacles.
Mukulika GhoshShawna L. ThomasMarco MoralesSamuel RodríguezNancy M. AmatoPublished in: IROS (2016)
Keyphrases
- motion planning
- collision free
- degrees of freedom
- path planning
- trajectory planning
- mobile robot
- robot arm
- humanoid robot
- robotic tasks
- mechanical systems
- control law
- multi robot
- inverse kinematics
- belief space
- manipulation tasks
- machine learning
- climbing robot
- robotic arm
- obstacle avoidance
- autonomous mobile robot
- end effector
- control system
- kinematic model
- viewpoint
- computer vision