Using Lie Group Symmetries for Fast Corrective Motion Planning.
Konstantin SeilerSurya P. N. SinghHugh F. Durrant-WhytePublished in: WAFR (2010)
Keyphrases
- motion planning
- lie group
- lie algebra
- degrees of freedom
- mobile robot
- infinite dimensional
- path planning
- parameter space
- euclidean space
- vector space
- vector field
- humanoid robot
- linear transformation
- mean shift
- covariance matrices
- riemannian manifolds
- multi robot
- finite dimensional
- geometric structure
- feature points
- pose estimation
- rigid motion
- tensor field
- shape analysis
- object recognition