Whole-Body MPC and Dynamic Occlusion Avoidance: A Maximum Likelihood Visibility Approach
Ibrahim Ibrahim,Farbod Farshidian,Jan Preisig,Perry Franklin,Paolo Rocco,Marco Hutter,Ibrahim Ibrahim,Farbod Farshidian,Jan Preisig,Perry Franklin,Paolo Rocco,Marco Hutter
This paper introduces a novel approach for whole-body motion planning and dynamic occlusion avoidance. The proposed approach reformulates the visibility constraint as a likelihood maximization of visibility probability. In this formulation, we augment the primary cost function of a whole-body model predictive control scheme through a relaxed log barrier function yielding a relaxed log-likelihood m...
