SyDeBO: Symbolic-Decision-Embedded Bilevel Optimization for Long-Horizon Manipulation in Dynamic Environments
This study proposes a Task and Motion Planning (TAMP) method with symbolic decisions embedded in a bilevel optimization. This TAMP method exploits the discrete structure of sequential manipulation for long-horizon and versatile tasks in dynamic environments. At the symbolic planning level, we propos...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2021-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9537786/ |