STOMP: Stochastic trajectory optimization for motion planning

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2011, Pages 4569-4574

  Kalakrishnan, Mrinal ^a   Chitta, Sachin ^b   Theodorou, Evangelos ^a   Pastor, Peter ^a   Schaal, Stefan ^a  

^a UNIVERSITY OF SOUTHERN CALIFORNIA   (United States)

^b Willow Garage Inc   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

CONSTRAINED TASKS; GRADIENT INFORMATIONS; GRADIENT-BASED METHOD; LOCAL MINIMUMS; MOBILE MANIPULATION; MOTOR TORQUE; NOISY TRAJECTORY; OPTIMIZATION ALGORITHMS; STOCHASTIC NATURE; STOCHASTIC TRAJECTORIES;

AERODYNAMICS; ALGORITHMS; COST FUNCTIONS; COSTS; ITERATIVE METHODS; MOTION PLANNING; OPTIMIZATION; STOCHASTIC SYSTEMS; TORQUE MOTORS; TRAJECTORIES;

ROBOTICS;

EID: 84871705710     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICRA.2011.5980280     Document Type: Conference Paper

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