Technical Report: A Hierarchical Deliberative-Reactive System Architecture for Task and Motion Planning in Partially Known Environments.
Vasileios VasilopoulosSebastian CastroWilliam Vega-BrownDaniel E. KoditschekNicholas RoyPublished in: CoRR (2022)
Keyphrases
- image sequences
- motion planning
- reactive planning
- technical report
- robotic tasks
- degrees of freedom
- path planning
- mobile robot
- trajectory planning
- robot arm
- humanoid robot
- robotic systems
- agent architecture
- multi agent architecture
- control architecture
- dynamic environments
- object tracking
- multi robot
- robotic arm
- configuration space
- belief space
- autonomous mobile robot
- mechanical systems
- control structure
- manipulation tasks
- inverse kinematics
- obstacle avoidance
- autonomous robots
- vision system
- subsumption architecture
- real time
- nearest neighbor searching
- multi agent
- climbing robot