Complementarity-based dynamic simulation for kinodynamic motion planning

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

Volumn , Issue , 2009, Pages 787-794

  Chakraborty, Nilanjan ^a   Akella, Srinivas ^b   Trinkle, Jeff ^c  

^a CARNEGIE MELLON UNIVERSITY   (United States)

^b University of North Carolina at Charlotte   (United States)

^c Rensselaer Polytechnic Institute   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

CLUTTERED ENVIRONMENTS; COLLISION-FREE PATHS; COMPLEMENTARITY CONSTRAINT; CONTACT FORCES; CONTROL INPUTS; DISCRETIZATIONS; DYNAMIC SIMULATION; DYNAMICS CONSTRAINTS; INEQUALITY CONSTRAINT; INPUT FORCES; INPUT SET; INPUT SPACE; LOCAL PLANNING; PATH SEGMENTS; RANDOM SAMPLING; SAMPLING-BASED MOTION PLANNING; SIMULATION EXAMPLE;

ALGORITHMS; COMPUTER SIMULATION; CONSTRAINT THEORY; INTELLIGENT ROBOTS; NAVIGATION; RAILROAD ROLLING STOCK;

MOTION PLANNING;

EID: 76249098625     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2009.5354274     Document Type: Conference Paper

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