Robot planning and control

摘要

Planning and control are two basic components of autonomous robot systems. In recent years, significant advances have been made in both these areas. However, these developments have continued to be carried out in isolation, and the gap between planning and control remains an important one. This article discusses the ongoing effort at Stanford University for the extension of real-time robot control capabilities in the context of integrated robot planning and control. The goal is to develop a layer of real-time sensor-based motion primitives that connects planning and control. The article presents the basic models and methodologies developed for addressing this research area.