1 code implementation • 3 Mar 2020 • Shreyas Kousik, Bohao Zhang, Pengcheng Zhao, Ram Vasudevan
To move through the world, mobile robots typically use a receding-horizon strategy, wherein they execute an old plan while computing a new plan to incorporate new sensor information.
Optimization and Control Robotics
1 code implementation • 5 Feb 2020 • Patrick Holmes, Shreyas Kousik, Bohao Zhang, Daphna Raz, Corina Barbalata, Matthew Johnson-Roberson, Ram Vasudevan
At runtime, in each receding-horizon planning iteration, ARMTD constructs a reachable set of the entire arm in workspace and intersects it with obstacles to generate sub-differentiable and provably-conservative collision-avoidance constraints on the trajectory parameters.
Robotics
