Integrated Task and Motion Planning for Safe Legged Navigation in Partially Observable Environments

This study proposes a hierarchically integrated framework for safe task and motion planning (TAMP) of bipedal locomotion in a partially observable environment with dynamic obstacles and uneven terrain. The high-level task planner employs linear temporal logic for a reactive game synthesis between th...

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Bibliographic Details
Published in:	IEEE transactions on robotics Vol. 39; no. 6; pp. 1 - 22
Main Authors:	Shamsah, Abdulaziz, Gu, Zhaoyuan, Warnke, Jonas, Hutchinson, Seth, Zhao, Ye
Format:	Journal Article
Language:	English
Published:	New York IEEE 01.12.2023 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Algorithms Angular momentum Barriers Collision avoidance Controllers Dynamics Formal methods in robotics and automation humanoid and bipedal locomotion Locomotion Low level motion and path planning Motion planning Navigation Navigation safety Perturbation Planning Reduced order models Robot dynamics Robotics Robots Safety Task analysis task planning Temporal logic Trajectory control
ISSN:	1552-3098, 1941-0468
Online Access:	Get full text
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