Robot planning

A robotics control system comprising:

• one or more processors;
• and
• a non-transitory storage medium storing computer instructions operable to cause the one or more processors to perform operations comprising:
• receiving, for a robot, an initial plan specifying a path and a local trajectory;
• receiving an updated observation of an environment of the robot;
• generating an initial modified local trajectory for the robot based on the updated observation in the environment of the robot;
• repeatedly following the initial modified local trajectory for the robot while generating a modified global path for the robot, comprising:
• obtaining data representing a workspace footprint for the robot, the workspace footprint defining a volume for a workspace of the robot, and
• generating the modified global path to avoid causing the robot to cross a boundary of the volume defined by the workspace footprint;
• and
• causing the robot to follow the modified global path for the robot.

A computer-readable storage medium comprising instructions that, when executed by one or more computers, cause the one or more computers to perform operations comprising:

• receiving, for a robot, an initial plan specifying a path and a local trajectory;
• receiving an updated observation of an environment of the robot;
• generating an initial modified local trajectory for the robot based on the updated observation in the environment of the robot;
• repeatedly following the initial modified local trajectory for the robot while generating a modified global path for the robot, comprising:
• obtaining data representing a workspace footprint for the robot, the workspace footprint defining a volume for a workspace of the robot, and
• generating the modified global path to avoid causing the robot to cross a boundary of the volume defined by the workspace footprint;
• and
• causing the robot to follow the modified global path for the robot.