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   Articles with "hierarchical planning" as a keyword



Multi-constraint model predictive control of flexible joint drive system based on unknown state estimator and constraint adaptive hierarchical planning

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recommendations! Published in 2025 at "Scientific Reports"

DOI: 10.1038/s41598-025-22594-y

Abstract: To address the issues of low control precision and potentially unsolvable control laws for flexible joint under uncertain disturbance and multiple constraints, a model predictive control (MPC) method based on an unknown state estimator (USE)… read more here.

Keywords: adaptive hierarchical; constraint adaptive; constraint; control ... See more keywords

Hierarchical Planning With Annotated Skeleton Guidance

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recommendations! Published in 2022 at "IEEE Robotics and Automation Letters"

DOI: 10.1109/lra.2022.3196885

Abstract: We present a hierarchical skeleton-guided motion planning algorithm to guide mobile robots. A good skeleton maps the connectivity of the subspace of c-space containing significant degrees of freedom and is able to guide the planner… read more here.

Keywords: annotated skeleton; skeleton guided; hierarchical planning; skeleton ... See more keywords

Hierarchical Planning for Long-Horizon Multi-Target Tracking Under Target Motion Uncertainty

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recommendations! Published in 2025 at "IEEE Robotics and Automation Letters"

DOI: 10.1109/lra.2025.3625492

Abstract: Achieving persistent tracking of multiple dynamic targets over a large area poses major challenges for a single robot with limited sensing. As the robot moves to track different targets, those outside its field of view… read more here.

Keywords: target tracking; multi target; target; uncertainty ... See more keywords

Hierarchical Planning for Vehicle Routing and Scheduling in Marsupial Robotic Systems

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recommendations! Published in 2026 at "IEEE Robotics and Automation Letters"

DOI: 10.1109/lra.2025.3630971

Abstract: This letter presents a hierarchical planning approach to the vehicle routing and scheduling problem (VRSP) for marsupial robotic systems, a specialized class of heterogeneous robotic systems in which one type of mobile robot is capable… read more here.

Keywords: routing scheduling; vehicle routing; marsupial robotic; robotic systems ... See more keywords

A dynamic integrated scheduling method based on hierarchical planning for heterogeneous AGV fleets in warehouses

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recommendations! Published in 2023 at "Frontiers in Neurorobotics"

DOI: 10.3389/fnbot.2022.1053067

Abstract: In modern industrial warehouses, heterogeneous and flexible fleets of automated guided vehicles (AGVs) are widely used to improve transport efficiency. However, as their scale and limit of battery capacity increase, the complexity of dynamic scheduling… read more here.

Keywords: problem; dynamic integrated; scheduling method; hierarchical planning ... See more keywords

Hierarchical Planning Through Goal-Conditioned Offline Reinforcement Learning

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recommendations! Published in 2022 at "IEEE Robotics and Automation Letters"

DOI: 10.48550/arxiv.2205.11790

Abstract: Offline Reinforcement learning (RL) has shown potent in many safe-critical tasks in robotics where exploration is risky and expensive. However, it still struggles to acquire skills in temporally extended tasks. In this paper, we study… read more here.

Keywords: reinforcement learning; offline reinforcement; level; hierarchical planning ... See more keywords