This repository contains the implementation of the RHH-LGP algorithm for task and motion planning (TAMP) that is presented in the research paper
RHH-LGP: Receding Horizon And Heuristics-Based Logic-Geometric Programming For Task And Motion Planning
by Cornelius V. Braun, Joaquim Ortiz-Haro, Marc Toussaint and Ozgur S. Oguz.
git clone [email protected]:cornelius-braun/rhh-lgp.git --recursive
For information on how to run the RAI code, please look at the readme in the rhhlgp-rai submodule. Please make sure that you are on the master/cornelius branch of the rhhlgp-rai submodule. If you clone the repository using the command above, this will automatically be the case.
The supplementary material contains one video presenting demonstrations of the investigated tasks and another video showing the design pipeline and the results of the iterative control optimization in the paper.