Reactive Planning for Mobile Manipulation Tasks in Unexplored Semantic Environments
Vasileios Vasilopoulos Yiannis Kantaros George J. Pappas Daniel E. Koditschek Vasileios Vasilopoulos Yiannis Kantaros George J. Pappas Daniel E. Koditschek
Complex manipulation tasks, such as rearrangement planning of numerous objects, are combinatorially hard problems. Existing algorithms either do not scale well or assume a great deal of prior knowledge about the environment, and few offer any rigorous guarantees. In this paper, we propose a novel hybrid control architecture for achieving such tasks with mobile manipulators. On the discrete side, w...