A Probabilistic Framework for Constrained Manipulations and Task and Motion Planning under Uncertainty
Jung-Su Ha,Danny Driess,Marc Toussaint,Jung-Su Ha,Danny Driess,Marc Toussaint
Logic-Geometric Programming (LGP) is a powerful motion and manipulation planning framework, which represents hierarchical structure using logic rules that describe discrete aspects of problems, e.g., touch, grasp, hit, or push, and solves the resulting smooth trajectory optimization. The expressive power of logic allows LGP for handling complex, large-scale sequential manipulation and tool-use pla...
