Velocity obstacle-based trajectory planner for anthropomorphic arms

DOI10.1016/J.EJCON.2023.100901OpenAlexW4386485537MaRDI QIDQ6152377FDOQ6152377

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

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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)

Cites Work

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

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