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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:
ICRA (2024)
Keyphrases
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motion planning
path planning
degrees of freedom
trajectory planning
mobile robot
viewpoint
humanoid robot
robot arm
dynamic programming
programming language
robotic arm
collision free
logical framework
mechanical systems
control law
classification error
dynamical systems
state space