Constant-time Motion Planning with Anytime Refinement for Manipulation
Itamar Mishani,Hayden Feddock,Maxim Likhachev,Itamar Mishani,Hayden Feddock,Maxim Likhachev
Robotic manipulators are essential for future autonomous systems, yet limited trust in their autonomy has confined them to rigid, task-specific systems. The intricate configuration space of manipulators, coupled with the challenges of obstacle avoidance and constraint satisfaction, often makes motion planning the bottleneck for achieving reliable and adaptable autonomy. Recently, a class of consta...
