KG-Planner: Knowledge-Informed Graph Neural Planning for Collaborative
Manipulators
KG-Planner: Knowledge-Informed Graph Neural Planning for Collaborative
Manipulators
This paper presents a novel knowledge-informed graph neural planner (KG-Planner) to address the challenge of efficiently planning collision-free motions for robots in high-dimensional spaces, considering both static and dynamic environments involving humans. Unlike traditional motion planners that struggle with finding a balance between efficiency and optimality, the KG-Planner takes a …