Decidability of Semi-Holonomic Prehensile Task and Motion Planning.
Ashwin DeshpandeLeslie Pack KaelblingTomás Lozano-PérezPublished in: WAFR (2016)
Keyphrases
- motion planning
- degrees of freedom
- mobile robot
- path planning
- trajectory planning
- robot arm
- description logics
- autonomous mobile robot
- robotic tasks
- robotic arm
- inverse kinematics
- humanoid robot
- multi robot
- control law
- mechanical systems
- collision free
- belief space
- query answering
- manipulation tasks
- obstacle avoidance
- configuration space
- dynamic environments
- kinematic model
- knowledge base