LTR*: Rapid Replanning in Executing Consecutive Tasks with Lazy Experience Graph
Tin Lai,Fabio Ramos,Tin Lai,Fabio Ramos
In an environment where a manipulator needs to execute multiple consecutive tasks, the act of object manoeuvre will change the underlying configuration space, affecting all subsequent tasks. Previously free configurations might now be occupied by the manoeuvred objects, and previously occupied space might now open up new paths. We propose Lazy Tree-based Replanner (LTR *)-a novel hybrid planner th...
