- Find time optimal trajectory duration via direct method.
- Solve energy optimal trajectory optimisation problem with similar duration via indirect method.
- Iteratively solve among cost homotopy until time optimal.
- Segment nominal trajectory into nodes
- Parallelly solve time optimal trajectory optimisation problems among state homotopy through multiple random walks about nominal time optimal trajectory.
- Group trajectories with same task, and transcribe states relatively.
- Train a neural network on state-control pairs for each task.
- Encapsulate neural networks for each task within a task arbitrating behaviour tree.
- Simualte.
-
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