A Convex Programming Approach to Multipoint Optimal Motion Planning for Unicycle Robots.
Mirko LeomanniGiuseppe MollicaAlberto DionigiPaolo ValigiGabriele CostantePublished in: IEEE Control. Syst. Lett. (2023)
Keyphrases
- motion planning
- convex programming
- mobile robot
- multi robot
- collision free
- humanoid robot
- manipulation tasks
- path planning
- degrees of freedom
- trajectory planning
- robotic arm
- convex optimization
- interior point methods
- robotic tasks
- dynamic programming
- linear programming
- real robot
- optimal solution
- configuration space
- climbing robot
- kernel learning
- optimal path
- piecewise linear
- linear combination