Efficient Path Planning In Manipulation Planning Problems by Actively Reusing Validation Effort
Valentin N. Hartmann,Joaquim Ortiz-Haro,Marc Toussaint,Valentin N. Hartmann,Joaquim Ortiz-Haro,Marc Toussaint
The path planning problems arising in manipulation planning and in task and motion planning settings are typically repetitive: the same manipulator moves in a space that only changes slightly. Despite this potential for reuse of information, few planners fully exploit the available information. To better enable this reuse, we decompose the collision checking into reusable, and non-reusable parts. ...
