Failure is an option: Task and Motion Planning with Failing Executions
Tianyang Pan,Andrew M. Wells,Rahul Shome,Lydia E. Kavraki,Tianyang Pan,Andrew M. Wells,Rahul Shome,Lydia E. Kavraki
Future robotic deployments will require robots to be able to repeatedly solve a variety of tasks in application domains. Task and motion planning addresses complex robotic problems that combine discrete reasoning over states and actions and geometric interactions during action executions. Moving beyond deterministic settings, stochastic actions can be handled by modeling the problem as a Markov De...
