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

1 code implementation • 23 Oct 2021 • Abdulaziz Shamsah, Zhaoyuan Gu, Jonas Warnke, Seth Hutchinson, Ye Zhao

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.

Motion Planning Task and Motion Planning