Posterior Sampling for Anytime Motion Planning on Graphs with Expensive-to-Evaluate Edges.
Brian HouSanjiban ChoudhuryGilwoo LeeAditya MandalikaSiddhartha S. SrinivasaPublished in: CoRR (2020)
Keyphrases
- motion planning
- directed graph
- weighted graph
- undirected graph
- trajectory planning
- degrees of freedom
- spanning tree
- mobile robot
- path planning
- humanoid robot
- robot arm
- real world graphs
- markov chain monte carlo
- robotic tasks
- multi robot
- inverse kinematics
- configuration space
- mechanical systems
- belief space
- massive graphs
- probability distribution
- robotic arm
- random sampling
- posterior probability
- autonomous mobile robot
- bayesian framework
- metropolis hastings
- edge weights
- obstacle avoidance
- graph mining
- directed acyclic graph
- posterior distribution
- collision free
- manipulation tasks
- markov chain
- probabilistic model