Using Lie group symmetries for fast corrective motion planning

International Journal of Robotics Research

Volumn 31, Issue 2, 2012, Pages 151-166

  Seiler, Konstantin M ^a   Singh, Surya P N ^b   Sukkarieh, Salah ^a   Durrant Whyte, Hugh ^c  

^a UNIVERSITY OF SYDNEY   (Australia)

^b UNIVERSITY OF QUEENSLAND   (Australia)

^c CSIRO   (Australia)

Author keywords

Lie group symmetry; Nonholonomic planning; online systems; path correction; sampling based planning

Indexed keywords

ALGORITHMIC FRAMEWORK; CONTROL STRATEGIES; CORRECTION METHOD; DIFFERENTIAL CONSTRAINTS; FEEDBACK CONTROL LOOPS; INTEGRATED PLANNING; KEY-SEGMENT; LIE GROUP; LIE GROUP SYMMETRIES; MOTION PLANNERS; NEEDLE STEERING; NON-HOLONOMIC PLANNING; SAMPLING BASED PLANNING; SAMPLING-BASED; SPECIAL EUCLIDEAN GROUP; SYMMETRY OPERATIONS; UNDER-ACTUATED SYSTEMS;

ALGORITHMS; LIE GROUPS; ONLINE SYSTEMS;

MOTION PLANNING;

EID: 84863046797     PISSN: 02783649     EISSN: 17413176     Source Type: Journal    
DOI: 10.1177/0278364911429977     Document Type: Article

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