Combining Task and Motion Planning using Policy Improvement with Path Integrals.
Dominik UrbaniakAlejandro AgostiniDongheui LeePublished in: HUMANOIDS (2021)
Keyphrases
- motion planning
- collision free
- configuration space
- degrees of freedom
- mobile robot
- trajectory planning
- robot arm
- path planning
- multi robot
- robotic arm
- autonomous mobile robot
- robotic tasks
- humanoid robot
- obstacle avoidance
- belief space
- optimal policy
- mechanical systems
- inverse kinematics
- multi agent
- optimal path
- dynamic environments
- spatio temporal
- video sequences