Learning Generalisable Coupling Terms for Obstacle Avoidance via Low-dimensional Geometric Descriptors

This repository contains some core MATLAB code and a demo of the DMP-based approach for obstacle avoidance published in the 2019 RA-L and presented at the 2019 IROS (see paper here and see experiments here).

References:

@article{pairet2019learningb,
  author = {Pairet, {\`E}ric and Ard{\'o}n, Paola and Mistry, Michael and Petillot, Yvan},
  title = {Learning Generalisable Coupling Terms for Obstacle Avoidance via Low-dimensional Geometric Descriptors},
  journal = {IEEE Robotics and Automation Letters},
  year = {2019}
}

Contact: Èric Pairet (eric.pairet AT ed dot ac dot uk)