Fast MILP-based Task and Motion Planning for Pick-and-Place with Hard/Soft Constraints of Collision-Free Route.
Takuma KogoKei TakayaHiroyuki OyamaPublished in: SMC (2021)
Keyphrases
- motion planning
- soft constraints
- collision free
- degrees of freedom
- path planning
- hard constraints
- constraint satisfaction
- mobile robot
- constraint satisfaction problems
- robot arm
- humanoid robot
- optimal path
- constraint propagation
- linear program
- robotic arm
- multi robot
- arc consistency
- dynamic environments
- potential field
- collision avoidance
- inverse kinematics
- obstacle avoidance
- configuration space
- constraint programming
- multi modal
- fuzzy logic
- high dimensional
- computer vision