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Task and motion planning for mobile manipulators
This thesis introduces new concepts and algorithms that can be used to solve the simultaneous task and motion planning (STAMP) problem. Given a set of actions a robot could perform, the STAMP problem asks for a sequence ...
Replanning: A powerful planning strategy for systems with differential constraints
Motion planning is a fundamental problem in robotics. When the differential constraints of a real robot are also modelled, the produced motions can be more realistic and make better use of the hardware's capabilities. While ...
From high-level tasks to low-level motions: Motion planning for high-dimensional nonlinear hybrid robotic systems
A significant challenge of autonomous robotics in transportation, exploration, and search-and-rescue missions lies in the area of motion planning. The overall objective is to enable robots to automatically plan the low-level ...