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cs.RO2025
Task Hierarchical Control via Null-Space Projection and Path Integral Approach
Apurva Patil, Riku Funada, Takashi Tanaka +1
This paper addresses the problem of hierarchical task control, where a robotic system must perform multiple subtasks with varying levels of priority. A commonly used approach for h…
cs.RO2024
Fast End-to-End Generation of Belief Space Paths for Minimum Sensing Navigation
Lukas Taus, Vrushabh Zinage, Takashi Tanaka +1
We revisit the problem of motion planning in the Gaussian belief space. Motivated by the fact that most existing sampling-based planners suffer from high computational costs due to…