论文标题
MOBOTSP：解决移动操纵器的任务测序问题
MoboTSP: Solving the Task Sequencing Problem for Mobile Manipulators
论文作者
论文摘要
我们介绍了一种解决移动操纵器任务测序问题的新方法。我们利用计算几何形状，图理论和组合优化来产生一种原则性方法，以将任务空间目标分割为群集，分析确定每个群集的可达基础姿势，并找到最小化基础运动数量和机器人执行时间的任务序列。通过首先关注目标，并从第一原则中这样做，与现有方法相比，我们的解决方案更加通用和计算效率。
We introduce a new approach to tackle the mobile manipulator task sequencing problem. We leverage computational geometry, graph theory and combinatorial optimization to yield a principled method to segment the task-space targets into clusters, analytically determine reachable base pose for each cluster, and find task sequences that minimize the number of base movements and robot execution time. By clustering targets first and by doing so from first principles, our solution is more general and computationally efficient when compared to existing methods.
