Fast MILP-based Task and Motion Planning for Pick-and-Place with Hard/Soft Constraints of Collision-Free Route.
Takuma KogoKei TakayaHiroyuki OyamaPublished in: CoRR (2021)
Keyphrases
- motion planning
- soft constraints
- collision free
- degrees of freedom
- mobile robot
- path planning
- hard constraints
- robotic arm
- constraint satisfaction
- robot arm
- potential field
- constraint satisfaction problems
- constraint propagation
- humanoid robot
- optimal path
- linear program
- multi robot
- inverse kinematics
- arc consistency
- collision avoidance
- climbing robot
- configuration space
- shortest path
- dynamic environments
- path finding
- worst case
- spatio temporal
- reinforcement learning
- three dimensional