A Hierarchical Deliberative-Reactive System Architecture for Task and Motion Planning in Partially Known Environments
Vasileios Vasilopoulos,Sebastian Castro,William Vega-Brown,Daniel E. Koditschck,Nicholas Roy,Vasileios Vasilopoulos,Sebastian Castro,William Vega-Brown,Daniel E. Koditschck,Nicholas Roy
We describe a task and motion planning architecture for highly dynamic systems that combines a domain-independent sampling-based deliberative planning algorithm with a global reactive planner. We leverage the recent development of a reactive, vector field planner that provides guarantees of reachability to large regions of the environment even in the face of unknown or unforeseen obstacles. The re...
