D-LGP: Dynamic Logic-Geometric Program for Reactive Task and Motion Planning.
Teng XueAmirreza RazmjooSylvain CalinonPublished in: ICRA (2024)
Keyphrases
- motion planning
- dynamic logic
- imperative programs
- degrees of freedom
- trajectory planning
- path planning
- robot arm
- mobile robot
- humanoid robot
- modal logic
- robotic tasks
- robotic arm
- propositional dynamic logic
- reasoning about actions
- configuration space
- mechanical systems
- manipulation tasks
- autonomous mobile robot
- obstacle avoidance
- real time
- artificial intelligence
- belief space
- collision free
- multi robot
- inverse kinematics
- classification error
- multi modal
- climbing robot