المفاهيم الأساسية
Hierarchical 3D scene graphs enable efficient Task and Motion Planning by identifying relevant elements in large-scale environments.
الملخص
Recent work focuses on constructing detailed 3D scene graphs for mobile robots.
Challenges include deriving planning domains from scene graphs efficiently.
Proposed approach involves sparse problem domain construction and incremental object addition during planning.
Three-level hierarchical planner integrates task, navigation, and motion planning.
Evaluation shows improved performance with increasing scene graph size.
الإحصائيات
問題の複雑さに応じて、計画時間が変化します。
目標の複雑さが増すと、密なプランナーを上回る可能性があります。