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R-LGP: A Reachability-guided Logic-geometric Programming Framework for Optimal Task and Motion Planning on Mobile Manipulators.
Kim Tien Ly
Valeriy Semenov
Mattia Risiglione
Wolfgang Merkt
Ioannis Havoutis
Published in:
CoRR (2023)
Keyphrases
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motion planning
path planning
degrees of freedom
mobile robot
robot arm
humanoid robot
logical framework
robotic tasks
trajectory planning
control law
dynamic programming
training set
multi robot
object detection
state space
configuration space
inverse kinematics
robotic arm
manipulation tasks
image sequences