Deep Coverage: Motion Synthesis in the Data-Driven Era

摘要

Robots have thrived in highly structured, accurately known, and safely enclosed industrial settings, such as those shown in Fig. 1 (left). Typically, these platforms consist of rigid elements connected by a few degrees of freedom (DoF) that can be controlled directly. This allows strict enforcement of motion for high speed, accuracy, and consistency of repeated tasks. In contrast, modern robotics aspires to more general and ambitious operational goals involving highly unstructured environments, arbitrary terrains, unknown objects, or the company of humans. This means that traditional objectives are superseded by a fundamental need for adaptability.