A Hierarchical Deliberative-Reactive System Architecture for Task and Motion Planning in Partially Known Environments.
Vasileios VasilopoulosSebastian CastroWilliam Vega-BrownDaniel E. KoditschekNicholas RoyPublished in: ICRA (2022)
Keyphrases
- motion planning
- reactive planning
- robotic tasks
- path planning
- degrees of freedom
- mobile robot
- trajectory planning
- robotic systems
- agent architecture
- robot arm
- multi agent architecture
- multi robot
- humanoid robot
- control architecture
- control structure
- real time
- robotic arm
- belief space
- dynamic environments
- subsumption architecture
- mechanical systems
- inverse kinematics
- manipulation tasks
- obstacle avoidance
- collision free
- autonomous robots
- configuration space
- climbing robot
- autonomous mobile robot
- video sequences
- multi agent