Single-Query Motion Planning with Utility-Guided Random Trees.
Brendan BurnsOliver BrockPublished in: ICRA (2007)
Keyphrases
- motion planning
- degrees of freedom
- path planning
- trajectory planning
- mobile robot
- robot arm
- query processing
- database
- humanoid robot
- user queries
- multi robot
- response time
- obstacle avoidance
- collision free
- range queries
- data sources
- potential field
- autonomous mobile robot
- robotic arm
- three dimensional
- inverse kinematics
- query expansion
- configuration space
- belief space
- utility function
- dynamic environments
- manipulation tasks
- mechanical systems
- kinematic model