A PRM-based planner with cached 'highway' paths and a hand-crafted probabilistic selection rule claims faster multi-goal planning for underwater manipulation.
A survey of optimization-based task and motion planning: From clas- sical to learning approaches,
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Context-Aware Behavior Learning with Heuristic Motion Memory for Underwater Manipulation
A PRM-based planner with cached 'highway' paths and a hand-crafted probabilistic selection rule claims faster multi-goal planning for underwater manipulation.