Reactive Task and Motion Planning for Robust Whole-Body Dynamic Locomotion in Constrained Environments

@article{Zhao2022ReactiveTA,
  title={Reactive Task and Motion Planning for Robust Whole-Body Dynamic Locomotion in Constrained Environments},
  author={Ye Zhao and Yinan Li and Luis Sentis and Ufuk Topcu and Jun Liu},
  journal={ArXiv},
  year={2022},
  volume={abs/1811.04333}
}
Contact-based decision and planning methods are becoming increasingly important to endow higher levels of autonomy for legged robots. Formal synthesis methods derived from symbolic systems have great potential for reasoning about high-level locomotion decisions and achieving complex maneuvering behaviors with correctness guarantees. This study takes a first step toward formally devising an architecture composed of task planning and control of whole-body dynamic locomotion behaviors in… 
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