2. 1
Constraint Motion Planning...?
拘束条件付動作計画
[1] Kingston, Zachary, Mark Moll, and Lydia E. Kavraki. "Sampling-based methods for motion planning with constraints." Annual review of control,
robotics, and autonomous systems 1 (2018): 159-185.
Figure 3 from Kingston, Z. et at al. [1]
拘束条件の例
8. 7
どこかにチュートリアルある?
https://ompl.kavrakilab.org/constrainedPlanningTutorial.html
[1] Kingston, Zachary, Mark Moll, and Lydia E. Kavraki. "Sampling-based methods for motion planning with
constraints." Annual review of control, robotics, and autonomous systems 1 (2018): 159-185.
[2] Kingston, Zachary, Mark Moll, and Lydia E. Kavraki. "Exploring implicit spaces for constrained sampling-based
planning." The International Journal of Robotics Research 38.10-11 (2019): 1151-1178.