Geometric backtracking for combined task and motion planning in robotic systems.
Julien BidotLars KarlssonFabien LagriffoulAlessandro SaffiottiPublished in: Artif. Intell. (2017)
Keyphrases
- robotic systems
- motion planning
- mobile robot
- robotic tasks
- multi robot
- manipulation tasks
- path planning
- autonomous robots
- robot arm
- degrees of freedom
- trajectory planning
- autonomous mobile robot
- control architecture
- vision system
- humanoid robot
- belief space
- control law
- mechanical systems
- configuration space
- object manipulation
- robotic arm
- imitation learning
- robotic manipulator
- robot control
- inverse kinematics
- obstacle avoidance
- motor control
- collision avoidance
- search algorithm
- control system
- real robot
- dynamic environments