Adaptive Sampling-based Motion Planning with Control Barrier Functions.
Ahmad AhmadCalin BeltaRoberto TronPublished in: CDC (2022)
Keyphrases
- motion planning
- robotic arm
- mechanical systems
- degrees of freedom
- mobile robot
- path planning
- robot arm
- trajectory planning
- humanoid robot
- adaptive control
- multi robot
- control law
- autonomous mobile robot
- robotic tasks
- kinematic model
- control system
- belief space
- robot control
- inverse kinematics
- obstacle avoidance
- manipulation tasks
- visual servoing
- end effector
- collision free
- real time
- configuration space
- dynamic environments
- three dimensional