Posterior Sampling for Anytime Motion Planning on Graphs with Expensive-to-Evaluate Edges.
Brian HouSanjiban ChoudhuryGilwoo LeeAditya MandalikaSiddhartha S. SrinivasaPublished in: ICRA (2020)
Keyphrases
- motion planning
- directed graph
- weighted graph
- degrees of freedom
- trajectory planning
- mobile robot
- spanning tree
- undirected graph
- robot arm
- markov chain monte carlo
- path planning
- real world graphs
- multi robot
- robotic tasks
- humanoid robot
- metropolis hastings
- obstacle avoidance
- posterior distribution
- inverse kinematics
- edge weights
- belief space
- probability distribution
- autonomous mobile robot
- graph mining
- random sampling
- mechanical systems
- massive graphs
- bayesian framework
- kinematic model
- robotic arm
- computer vision
- posterior probability
- manipulation tasks