Provable Indefinite-Horizon Real-Time Planning for Repetitive Tasks

Understand

In many robotic manipulation scenarios, robots often have to perform highly-repetitive tasks in structured environments e.g.

• sorting mail in a mailroom or pick and place objects on a conveyor belt.
• In this work we are interested in settings where the tasks are similar, yet not identical (e.g., due to uncertain orientation of objects) and motion planning needs to be extremely fast.
• Preprocessing-based approaches prove to be very beneficial in these settings.