Accounting for uncertainty in simultaneous task and motion planning using task motion multigraphs.
Ioan Alexandru SucanLydia E. KavrakiPublished in: ICRA (2012)
Keyphrases
- motion planning
- degrees of freedom
- trajectory planning
- humanoid robot
- mobile robot
- robot arm
- robotic tasks
- inverse kinematics
- configuration space
- path planning
- multi robot
- obstacle avoidance
- robotic arm
- autonomous mobile robot
- communication networks
- belief space
- collision free
- mechanical systems
- manipulation tasks
- measurement errors
- computer vision
- pose estimation
- kinematic model
- video surveillance