Motion Planning around Obstacles with Convex Optimization.
Tobia MarcucciMark PetersenDavid von WrangelRuss TedrakePublished in: CoRR (2022)
Keyphrases
- convex optimization
- motion planning
- collision free
- degrees of freedom
- mobile robot
- path planning
- trajectory planning
- humanoid robot
- interior point methods
- robotic tasks
- low rank
- robotic arm
- primal dual
- total variation
- multi robot
- obstacle avoidance
- convex relaxation
- mechanical systems
- configuration space
- norm minimization
- convex optimization problems
- semidefinite program
- operator splitting
- climbing robot
- free space
- pose estimation
- spatio temporal
- collision avoidance
- multiscale
- three dimensional