CAT-RRT: Motion Planning that Admits Contact One Link at a Time
Nataliya Nechyporenko,Caleb Escobedo,Shreyas Kadekodi,Alessandro Roncone,Nataliya Nechyporenko,Caleb Escobedo,Shreyas Kadekodi,Alessandro Roncone
Current motion planning approaches rely on binary collision checking to evaluate the validity of a state and thereby dictate where the robot is allowed to move. This approach leaves little room for robots to engage in contact with an object, as is often necessary when operating in densely cluttered spaces. In this work, we propose an alternative method that considers contact states as high-cost st...
