2022
A Stack-of-Tasks Approach Combined With Behavior Trees: A New Framework for Robot Control
RA-L 2022
Stack-of-Tasks (SoT) control allows a robot to simultaneously fulfill a number of prioritized goals formulated in terms of (in)equality constraints in error space. Since this approach solves a sequence of Quadratic Programs (QP) at each time-step, without taking into account any temporal state evolu