Global and Reactive Motion Generation with Geometric Fabric Command Sequences
Weiming Zhi,Iretiayo Akinola,Karl Van Wyk,Nathan D. Ratliff,Fabio Ramos,Weiming Zhi,Iretiayo Akinola,Karl Van Wyk,Nathan D. Ratliff,Fabio Ramos
Motion generation seeks to produce safe and feasible robot motion from start to goal. Various tools at different levels of granularity have been developed. On one extreme, sampling-based motion planners focus on completeness - a solution, if it exists, would eventually be found. However, produced paths are often of low quality, and contain superfluous motion. On the other, reactive methods optimis...
