Unified Task and Motion Planning using Object-centric Abstractions of Motion Constraints.

Alejandro Agostini Justus H. Piater

Published in: CoRR (2023)

Keyphrases

motion planning
configuration space
degrees of freedom
robotic tasks
trajectory planning
path planning
humanoid robot
mobile robot

robot arm
robotic arm
autonomous mobile robot
geometrical constraints
moving objects
manipulation tasks
multi robot
inverse kinematics

obstacle avoidance
target object
kinematic model
d objects
object tracking
articulated objects
mechanical systems
image measurements

collision free
potential field
spatio temporal
viewpoint
end effector
computer vision
temporal continuity