Motion planning and reactive control on learnt skill manifolds

@article{Havoutis2012MotionPA,
  title={Motion planning and reactive control on learnt skill manifolds},
  author={Ioannis Havoutis},
  journal={I. J. Robotics Res.},
  year={2012},
  volume={32},
  pages={1120-1150}
}
We address the problem of encoding and executing skills, i.e., motion tasks involving a combination of specifications regarding constraints and variability. We take an approach that is model-free in the sense that we do not assume an explicit and complete analytical specification of the task which can be hard to obtain for many realistic robot systems… CONTINUE READING