Sequential quadratic programming for task plan optimization

We consider the problem of refining an abstract task plan into a motion trajectory. Task and motion planning is a hard problem that is essential to long-horizon mobile manipulation. Many approaches divide the problem into two steps: a search for a task plan and task plan refinement to find a feasible trajectory. We apply sequential quadratic programming to… (More)

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Averaging 15 citations per year over the last 3 years.

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