Simultaneous Scene Reconstruction and Whole-Body Motion Planning for Safe Operation in Dynamic Environments
Mark Nicholas Finean,Wolfgang Merkt,Ioannis Havoutis,Mark Nicholas Finean,Wolfgang Merkt,Ioannis Havoutis
Recent work has demonstrated real-time mapping and reconstruction from dense perception, while motion planning based on distance fields has been shown to achieve fast, collision-free motion synthesis with good convergence properties. However, demonstration of a fully integrated system that can safely re-plan in unknown environments, in the presence of static and dynamic obstacles, has remained an ...
