Using Experience to Improve Constrained Planning on Foliations for Multi-Modal Problems
Zachary Kingston,Constantinos Chamzas,Lydia E. Kavraki,Zachary Kingston,Constantinos Chamzas,Lydia E. Kavraki
Many robotic manipulation problems are multi-modal—they consist of a discrete set of mode families (e.g., whether an object is grasped or placed) each with a continuum of parameters (e.g., where exactly an object is grasped). Core to these problems is solving single-mode motion plans, i.e., given a mode from a mode family (e.g., a specific grasp), find a feasible motion to transition to the next d...
