Velocity obstacle-based trajectory planner for anthropomorphic arms

DOI10.1016/J.EJCON.2023.100901MaRDI QIDQ6152377zbMATH OpenOpenAlexFDO

Authors Federico Vesentini, Nicola Piccinelli, Riccardo Muradore

Publication date 13 February 2024

Published in European Journal of Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.ejcon.2023.100901

zbMATH Keywords

motion controldynamic modellingobstacle avoidancetrajectory planningrobotic manipulators

Mathematics Subject Classification ID

Decentralized systems (93A14) Automated systems (robots, etc.) in control theory (93C85) Multi-agent systems (93A16)

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Cites work

• Reciprocal \(n\)-body collision avoidance
• SMC: satisfiability modulo convex optimization
• Task decomposition, dynamic role assignment, and low-bandwidth communication for real-time strategic teamwork

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