Tree Search-based Task and Motion Planning with Prehensile and Non-prehensile Manipulation for Obstacle Rearrangement in Clutter.
Jinhwi LeeChangjoo NamJonghyeon ParkChangHwan KimPublished in: ICRA (2021)
Keyphrases
- motion planning
- tree search
- mobile robot
- manipulation tasks
- path planning
- degrees of freedom
- trajectory planning
- search algorithm
- branch and bound
- path finding
- constraint propagation
- multi robot
- robotic tasks
- search tree
- humanoid robot
- mathematical programming
- robotic arm
- search space
- climbing robot
- robotic systems
- mechanical systems
- constraint programming
- state space
- special case