Leveraging Single-Goal Predictions to Improve the Efficiency of Multi-Goal Motion Planning with Dynamics
Yuanjie Lu,Erion Plaku,Yuanjie Lu,Erion Plaku
Multi-goal motion planning requires a robot to plan collision-free and dynamically-feasible motions to reach multiple goals, often in unstructured, obstacle-rich environments. This is challenging due to the complex dependencies between navigation and high-level reasoning, requiring the robot to explore a vast space of feasible motions and goal sequences. Our approach combines machine learning and ...
