@inproceedings{6be0bf74056f4f39b403973ed70e4b67,
title = "Task-constrained motion planning with moving obstacles",
abstract = "We consider the problem of planning the motion of redundant robotic systems subject to geometric task constraints in the presence of obstacles moving along known trajectories. Building on our previous results on task-constrained motion planning, we propose a control-based motion planner that works directly in the task-constrained configuration space extended with the time dimension. The generated trajectories are collision-free and satisfy the task constraint with arbitrary accuracy. Bounds on the achievable generalized velocities may also be taken into account. The proposed approach is validated through planning experiments on a 7-dof articulated robot and an 8-dof mobile manipulator.",
author = "Massimo Cefalo and Giuseppe Oriolo and Marilena Vendittelli",
year = "2013",
doi = "10.1109/IROS.2013.6697190",
language = "English",
series = "IEEE International Conference on Intelligent Robots and Systems",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "5758--5763",
booktitle = "2013 IEEE/RSJ International Conference on Intelligent Robots and Systems",
address = "United States",
note = "2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 ; Conference date: 03-11-2013 Through 08-11-2013",
}