Batch and Incremental Kinodynamic Motion Planning using Dynamic Factor Graphs

This paper presents a kinodynamic motion planner that is able to produce energy efficient motions by taking the full robot dynamics into account, and making use of gravity, inertia, and momentum to reduce the effort. Given a specific goal state for the robot, we use factor graphs and numerical optim...

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Bibliographische Detailangaben

Hauptverfasser:	Xie, Mandy, Dellaert, Frank
Format:	Artikel
Sprache:	eng
Schlagworte:	Computer Science - Robotics
Online-Zugang:	Volltext bestellen
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