A fast two-stage approach for multi-goal path planning in a fruit tree
Werner Kroneman,João Valente,A. Frank Van Der Stappen,Werner Kroneman,João Valente,A. Frank Van Der Stappen
We consider the problem of planning the motion of a drone equipped with a robotic arm, tasked with bringing its end-effector up to many (150+) targets in a fruit tree; to inspect every piece of fruit, for example. The task is complicated by the intersection of a version of Neighborhood TSP (to find an optimal order and a pose to visit every target), and a robotic motion-planning problem through a ...
