Robust online motion planning via contraction theory and convex optimization
We present a framework for online generation of robust motion plans for robotic systems with nonlinear dynamics subject to bounded disturbances, control constraints, and online state constraints such as obstacles. In an offline phase, one computes the structure of a feedback controller that can be e...
| Main Authors: | , , , |
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| Other Authors: | |
| Format: | Article |
| Published: |
Institute of Electrical and Electronics Engineers (IEEE)
2020
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| Online Access: | https://hdl.handle.net/1721.1/125697 |