Combined task and motion planning through an extensible planner-independent interface layer.
Siddharth SrivastavaEugene FangLorenzo RianoRohan ChitnisStuart J. RussellPieter AbbeelPublished in: ICRA (2014)
Keyphrases
- motion planning
- degrees of freedom
- mobile robot
- path planning
- trajectory planning
- humanoid robot
- robot arm
- robotic arm
- mechanical systems
- obstacle avoidance
- multi robot
- autonomous mobile robot
- robotic tasks
- user interface
- heuristic search
- inverse kinematics
- collision free
- potential field
- abstraction layer
- configuration space
- viewpoint
- belief space
- computer vision
- climbing robot
- domain independent
- multi modal
- three dimensional