Online Adaptation of Sampling-Based Motion Planning with Inaccurate Models
Marco Faroni,Dmitry Berenson,Marco Faroni,Dmitry Berenson
Robotic manipulation relies on analytical or learned models to simulate the system dynamics. These models are often inaccurate and based on offline information, so that the robot planner is unable to cope with mismatches between the expected and the actual behavior of the system (e.g., the presence of an unexpected obstacle). In these situations, the robot should use information gathered online to...
