Informing Multi-Modal Planning with Synergistic Discrete Leads
Zachary Kingston,Andrew M. Wells,Mark Moll,Lydia E. Kavraki,Zachary Kingston,Andrew M. Wells,Mark Moll,Lydia E. Kavraki
Robotic manipulation problems are inherently continuous, but typically have underlying discrete structure, e.g., whether or not an object is grasped. This means many problems are multi-modal and in particular have a continuous infinity of modes. For example, in a pick-and-place manipulation domain, every grasp and placement of an object is a mode. Usually manipulation problems require the robot to...
