2024
Modular Multi-Level Replanning TAMP Framework for Dynamic Environment
Tao Lin et al., 哈工大, IROS 2024
- 提出多层级的任务规划框架，针对环境中实时的变化进行重规划。演示的任务为pick and place
- 组成部分：
- TAMP Solver: PDDLStream
- Subtask Scheduler
- Subtask Planner
- Robot Controller
- State Evaluator