Constant-Time Planning for Chaining Collision-free Motion to Manipulation Behaviors
The Behavioral Constant-Time Motion Planner (B-CTMP) was developed to solve two sequential tasks: moving collision-free to a behavior start and then executing a manipulation behavior, all within constant time. It uses an offline preprocessing phase that finds compact data structures called attractor tuples based on spatial locality of behaviors. This allows for near-instantaneous online queries, guaranteeing both correctness and execution success for manipulation tasks like shelf picking.