Integrated Task and Motion Planning for Safe Legged Navigation in Partially Observable Environments.
Abdulaziz ShamsahZhaoyuan GuJonas WarnkeSeth HutchinsonYe ZhaoPublished in: IEEE Trans. Robotics (2023)
Keyphrases
- motion planning
- rough terrain
- partially observable environments
- obstacle avoidance
- collision free
- mobile robot
- humanoid robot
- degrees of freedom
- path planning
- trajectory planning
- robotic tasks
- multi robot
- inverse reinforcement learning
- motion control
- partially observable
- reinforcement learning algorithms
- multi modal
- configuration space
- reinforcement learning
- climbing robot
- autonomous navigation
- partially observable markov decision processes
- dynamic environments