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09/19/2023
Asymptotically Optimal Belief Space Planning in Discrete Partially-Observable Domains
Robots often have to operate in discrete partially observable worlds, wh...
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09/19/2023
Fast-dRRT*: Efficient Multi-Robot Motion Planning for Automated Industrial Manufacturing
We present Fast-dRRT*, a sampling-based multi-robot planner, for real-ti...
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12/06/2022
Solving Rearrangement Puzzles using Path Defragmentation in Factored State Spaces
Rearrangement puzzles are variations of rearrangement problems in which ...
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11/20/2022
Multi-Arm Bin-Picking in Real-Time: A Combined Task and Motion Planning Approach
Automated bin-picking is a prerequisite for fully automated manufacturin...
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04/09/2022
Path-Tree Optimization in Partially Observable Environments using Rapidly-Exploring Belief-Space Graphs
Robots often need to solve path planning problems where essential and di...
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03/04/2022
ST-RRT*: Asymptotically-Optimal Bidirectional Motion Planning through Space-Time
We present a motion planner for planning through space-time with dynamic...
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03/03/2022
BITKOMO: Combining Sampling and Optimization for Fast Convergence in Optimal Motion Planning
Optimal sampling based motion planning and trajectory optimization are t...
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12/13/2021
MotionBenchMaker: A Tool to Generate and Benchmark Motion Planning Datasets
Recently, there has been a wealth of development in motion planning for ...
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07/06/2021
Approximate Topological Optimization using Multi-Mode Estimation for Robot Motion Planning
In this extended abstract, we report on ongoing work towards an approxim...
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06/04/2021
Long-Horizon Multi-Robot Rearrangement Planning for Construction Assembly
Robotic assembly planning has the potential to profoundly change how bui...
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11/03/2020
Efficient Sampling of Transition Constraints for Motion Planning under Sliding Contacts
Contact-based motion planning for manipulation, object exploration or ba...
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11/02/2020
Sparse Multilevel Roadmaps on Fiber Bundles for High-Dimensional Motion Planning
Sparse roadmaps are important to compactly represent state spaces, to de...
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10/27/2020
Section Patterns: Efficiently Solving Narrow Passage Problems using Multilevel Motion Planning
Sampling-based planning methods often become inefficient due to narrow p...
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07/18/2020
Multilevel Motion Planning: A Fiber Bundle Formulation
Motion planning problems involving high-dimensional state spaces can oft...
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02/11/2020
Visualizing Local Minima in Multi-Robot Motion Planning using Morse Theory
Multi-robot motion planning problems often have many local minima. It is...
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09/11/2019
Motion Planning Explorer: Visualizing Local Minima using a Local-Minima Tree
We present an algorithm to visualize local minima in a motion planning p...
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06/04/2019
Rapidly-Exploring Quotient-Space Trees: Motion Planning using Sequential Simplifications
Motion planning problems can be simplified by admissible projections of ...
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09/14/2018
Motion Planning in Irreducible Path Spaces
The motion of a mechanical system can be defined as a path through its c...
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07/25/2018