D-LGP: Dynamic Logic-Geometric Program for Combined Task and Motion Planning.
Teng XueAmirreza RazmjooSylvain CalinonPublished in: CoRR (2023)
Keyphrases
- motion planning
- dynamic logic
- imperative programs
- degrees of freedom
- trajectory planning
- mobile robot
- path planning
- robot arm
- modal logic
- robotic tasks
- robotic arm
- autonomous mobile robot
- multi robot
- humanoid robot
- reasoning about actions
- obstacle avoidance
- configuration space
- collision free
- mechanical systems
- belief space
- manipulation tasks
- inverse kinematics
- viewpoint
- propositional dynamic logic
- dynamic environments
- climbing robot