Corpus ID: 235098920

No-frills Dynamic Planning using Static Planners

@article{Levy2021NofrillsDP,
  title={No-frills Dynamic Planning using Static Planners},
  author={Mara Levy and Vasista Ayyagari and Abhinav Shrivastava},
  journal={ArXiv},
  year={2021},
  volume={abs/2106.09714}
}
In this paper, we address the task of interacting with dynamic environments where the changes in the environment are independent of the agent. We study this through the context of trapping a moving ball with a UR5 robotic arm. Our key contribution is an approach to utilize a static planner for dynamic tasks using a Dynamic Planning addon; that is, if we can successfully solve a task with a static target, then our approach can solve the same task when the target is moving. Our approach has three… Expand

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