Integrating Task-Motion Planning with Reinforcement Learning for Robust Decision Making in Mobile Robots.
Yuqian JiangFangkai YangShiqi ZhangPeter StonePublished in: CoRR (2018)
Keyphrases
- motion planning
- mobile robot
- decision making
- reinforcement learning
- path planning
- degrees of freedom
- trajectory planning
- multi robot
- mobile robot localization
- robot arm
- obstacle avoidance
- real robot
- belief space
- robotic arm
- autonomous mobile robot
- robot control
- autonomous robots
- robotic tasks
- configuration space
- manipulation tasks
- collision free
- humanoid robot
- control law
- mechanical systems
- inverse kinematics
- potential field
- unknown environments
- real time
- motion control
- decision makers
- markov decision processes
- principal component analysis
- dynamic programming
- path finding
- model free
- dynamic environments