Sampling-based methods for factored task and motion planning
This paper presents a general-purpose formulation of a large class of discrete-time planning problems, with hybrid state and control-spaces, as factored transition systems. Factoring allows state transitions to be described as the intersection of several constraints each affecting a subset of the st...
| Main Authors: | , , |
|---|---|
| Other Authors: | |
| Format: | Article |
| Language: | English |
| Published: |
SAGE Publications
2020
|
| Online Access: | https://hdl.handle.net/1721.1/124490 |