Expansive Voronoi Tree: A Motion Planner for Assembly Sequence Planning.
Sebastian DornNicola WolpertElmar SchömerPublished in: ICRA (2021)
Keyphrases
- robotic tasks
- motion planning
- ai planning
- heuristic search
- planning process
- automated planning
- classical planning
- planning under uncertainty
- domain independent
- planning systems
- case based planning
- planning domains
- forward chaining
- plan execution
- probabilistic planning
- assembly systems
- image sequences
- motion estimation
- motion analysis
- long sequences
- planning problems
- space time
- tree structure
- motion model
- human motion
- state space
- camera motion
- domain independent planning
- temporal planning
- initial state
- abstraction hierarchy
- motion trajectories
- path finding
- assembly process
- plan generation
- macro actions
- control knowledge
- planning graph
- temporal structure
- degrees of freedom
- forward search
- goal state
- partial plans
- temporal sequences
- optical flow
- hierarchical task network
- macro operators
- htn planning
- action sequences
- voronoi diagram
- medial axis
- humanoid robot
- path planning
- index structure
- moving objects