A Reachability Tree-Based Algorithm for Robot Task and Motion Planning
Kanghyun Kim,Daehyung Park,Min Jun Kim,Kanghyun Kim,Daehyung Park,Min Jun Kim
This paper presents a novel algorithm for robot task and motion planning (TAMP) problems by utilizing a reachability tree. While tree-based algorithms are known for their speed and simplicity in motion planning (MP), they are not well-suited for TAMP problems that involve both abstracted and geometrical state variables. To address this challenge, we propose a hierarchical sampling strategy, which ...
