Motion Planning along Manifolds with Geodesic Convexity and Analytic Inverse Kinematics
Collision-free motion planning is a fundamental problem in robotics. Most motion planning algorithms operate in the configuration space of a robot, where each dimension corresponds to an individual degree of freedom. Oftentimes, these configuration spaces can be viewed as Euclidean spaces, and many...
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| Format: | Thesis |
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Massachusetts Institute of Technology
2024
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| Online Access: | https://hdl.handle.net/1721.1/156165 https://orcid.org/0000-0002-5411-0710 |