Invariant Configuration-Space Bubbles for Revolute Serial-Chain Robots
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DOI: 10.1109/lcsys.2022.3224685
Abstract: This letter adapts the invariant-set motion planner (ISMP) for robot motion planning. We derive control invariant subsets of configuration-space bubbles lifted into the state-space. The resulting sets guarantee collision avoidance since they are both constraint… read more here.
Keywords: invariant configuration; space; control; control invariant ... See more keywords