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Jan, 2023
使用深度神经网络在约束流形上进行快速运动规划
Fast Kinodynamic Planning on the Constraint Manifold with Deep Neural Networks
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Piotr Kicki, Puze Liu, Davide Tateo, Haitham Bou-Ammar, Krzysztof Walas...
TL;DR
本文介绍了一种新颖的学习规划框架,探讨了通过利用约束流形和神经规划方法来生成满足任意一组约束的规划,并以短常数时间计算它们的方法。
Abstract
motion planning
is a mature area of research in robotics with many well-established methods based on optimization or sampling the state space, suitable for solving kinematic
motion planning
. However, when dynamic
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