Incorporating Motion Planning Feasibility Considerations during Task-Agent Assignment to Perform Complex Tasks Using Mobile Manipulators
Ariyan M. Kabir,Shantanu Thakar,Prahar M. Bhatt,Rishi K. Malhan,Pradeep Rajendran,Brual C. Shah,Satyandra K. Gupta,Ariyan M. Kabir,Shantanu Thakar,Prahar M. Bhatt,Rishi K. Malhan,Pradeep Rajendran,Brual C. Shah,Satyandra K. Gupta
Multi-arm mobile manipulators can be represented as a combination of multiple robotic agents from the perspective of task-assignment and motion planning. Depending upon the task, agents might collaborate or work independently. Integrating motion planning with task-agent assignment is a computationally slow process as infeasible assignments can only be detected through expensive motion planning que...
