We present an integrated Task-Motion Planning (TMP) framework for navigation in large-scale environments. Of late, TMP manipulation has attracted significant interest resulting a proliferation of different approaches. In contrast, received considerably less attention. Autonomous robots operating real-world complex scenarios require planning the discrete (task) space and continuous (motion) spac...

Recent advancements in constrained kinematic control make it an attractive strategy for controlling robots with arbitrary geometry challenging tasks. Most of the current works assume that robot model is precise enough task at hand. However, increasing demands and safety requirements robotic applications, there a need controller compensates online inaccuracies. We propose adaptive based on quadr...