Efficient Polynomial Sum-Of-Squares Programming for Planar Robotic Arms
Daniel Keren,Amit Shahar,Roi Poranne,Daniel Keren,Amit Shahar,Roi Poranne
Collision-avoiding motion planning for articulated robotic arms is one of the major challenges in robotics. The difficulty of the problem arises from its high dimensionality and the intricate geometry of the feasible space. Our goal is to seek large convex domains in configuration space, which contain no obstacles. In these domains, simple linear trajectories are guaranteed to be collision free, a...
