Unified Task and Motion Planning using Object-centric Abstractions of Motion Constraints.
Alejandro AgostiniJustus H. PiaterPublished 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