2020
Geometrical Interpretation and Detection of Multiple Task Conflicts using a Coordinate Invariant Index
Vincenzo Schettino, Mario D. Fiore, Claudia Pecorella, Fanny Ficuciello, Felix Allmendinger, Johannes Lachner +2
IROS 2020poster
Modern robots act in dynamic and partially unknown environments where path replanning can be mandatory if changes in the environment are observed. Task-prioritized control strategies are well known and effective solutions to ensure local adaptation of robot behaviour. The highest priority in a stack…