2019
Improving Local Trajectory Optimisation using Probabilistic Movement Primitives
RB Ashith Shyam, Peter Lightbody, Gautham Das, Pengcheng Liu, Sebastian Gomez-Gonzalez, Gerhard Neumann
IROS 2019poster
Local trajectory optimisation techniques are a powerful tool for motion planning. However, they often get stuck in local optima depending on the quality of the initial solution and consequently, often do not find a valid (i.e. collision free) trajectory. Moreover, they often require fine tuning of a…