Deformation Recovery Control and Post-Impact Trajectory Replanning for Collision-Resilient Mobile Robots
Zhouyu Lu,Zhichao Liu,Konstantinos Karydis,Zhouyu Lu,Zhichao Liu,Konstantinos Karydis
The paper focuses on collision-inclusive motion planning for impact-resilient mobile robots. We propose a new deformation recovery and replanning strategy to handle collisions that may occur at run-time. Contrary to collision avoidance methods that generate trajectories only in conservative local space or require collision checking that has high computational cost, our method directly generates (l...
