The document discusses constraint motion planning, which is a type of motion planning that takes constraints into account. It provides an example where the constraint is that an object must remain on the surface of a sphere. Directly searching the full space is not possible, so instead the constrained space is approximated using a first-order Taylor expansion, though this introduces approximation errors. It then provides examples of how to implement constrained motion planning. Finally, it mentions that constrained planning is used in the MoveIt motion planning framework and provides a tutorial link for learning more about constrained planning in the OMPL library.
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Constraint Motion Planning...?
拘束条件付動作計画
[1] Kingston, Zachary, Mark Moll, and Lydia E. Kavraki. "Sampling-based methods for motion planning with constraints." Annual review of control,
robotics, and autonomous systems 1 (2018): 159-185.
Figure 3 from Kingston, Z. et at al. [1]
拘束条件の例](https://image.slidesharecdn.com/robosemi11-210423143136/85/Constraint-Motion-Planning-2-320.jpg)
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どこかにチュートリアルある？
https://ompl.kavrakilab.org/constrainedPlanningTutorial.html
[1] Kingston, Zachary, Mark Moll, and Lydia E. Kavraki. "Sampling-based methods for motion planning with
constraints." Annual review of control, robotics, and autonomous systems 1 (2018): 159-185.
[2] Kingston, Zachary, Mark Moll, and Lydia E. Kavraki. "Exploring implicit spaces for constrained sampling-based
planning." The International Journal of Robotics Research 38.10-11 (2019): 1151-1178.](https://image.slidesharecdn.com/robosemi11-210423143136/85/Constraint-Motion-Planning-8-320.jpg)