Task and Motion Informed Trees (TMIT*): Almost-Surely Asymptotically Optimal Integrated Task and Motion Planning.
Wil ThomasonMarlin P. StrubJonathan D. GammellPublished in: IEEE Robotics Autom. Lett. (2022)
Keyphrases
- motion planning
- asymptotically optimal
- degrees of freedom
- path planning
- asymptotic optimality
- humanoid robot
- mobile robot
- trajectory planning
- robot arm
- robotic arm
- robotic tasks
- multi robot
- arrival rate
- inverse kinematics
- obstacle avoidance
- call center
- configuration space
- mechanical systems
- collision free
- computer vision
- optimal policy
- reinforcement learning
- three dimensional