Object-Centric Task and Motion Planning in Dynamic Environments
IEEE Robotics and Automation Letters(2020)
摘要
We address the problem of applying Task and Motion Planning (TAMP) in real world environments. TAMP combines symbolic and geometric reasoning to produce sequential manipulation plans, typically specified as joint-space trajectories, which are valid only as long as the environment is static and perception and control are highly accurate. In case of any changes in the environment, slow re-planning i...
更多查看译文
关键词
Robots,Planning,Task analysis,Trajectory,Skeleton,Optimization,Real-time systems
AI 理解论文
溯源树
样例
生成溯源树,研究论文发展脉络
Chat Paper
正在生成论文摘要