Optimal sampling-based motion planning under differential constraints: The drift case with linear affine dynamics.
Edward SchmerlingLucas JansonMarco PavonePublished in: CDC (2015)
Keyphrases
- motion planning
- degrees of freedom
- trajectory planning
- mobile robot
- path planning
- robot arm
- linear constraints
- humanoid robot
- collision free
- closed form
- closed form solutions
- multi robot
- autonomous mobile robot
- kinematic model
- robotic arm
- robotic tasks
- inverse kinematics
- belief space
- mechanical systems
- optimal solution
- obstacle avoidance
- dynamic model
- pose estimation
- optimal path
- control law
- potential field
- dynamic programming
- real time