Configuration Space Decomposition for Scalable Proxy Collision Checking in Robot Planning and Control.
Mrinal VergheseNikhil DasYuheng ZhiMichael C. YipPublished in: IEEE Robotics Autom. Lett. (2022)
Keyphrases
- configuration space
- motion planning
- collision free
- robotic arm
- path planning
- degrees of freedom
- mobile robot
- end effector
- collision avoidance
- multi robot
- robot teams
- humanoid robot
- robot arm
- mathematical formalism
- joint space
- path finding
- robot control
- visual servoing
- autonomous robots
- hand eye
- control signals
- control system
- control law
- robotic systems
- heuristic search
- human robot interaction
- inverse kinematics
- computer vision
- planning problems
- vision system
- search space
- three dimensional