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05/10/2023
Safe motion planning with environment uncertainty
We present an approach for safe motion planning under robot state and en...
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05/02/2023
Revisiting the Minimum Constraint Removal Problem in Mobile Robotics
The minimum constraint removal problem seeks to find the minimum number ...
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02/14/2023
Computational Tradeoff in Minimum Obstacle Displacement Planning for Robot Navigation
In this paper, we look into the minimum obstacle displacement (MOD) plan...
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04/27/2022
Minimum Displacement Motion Planning for Movable Obstacles
This paper presents a minimum displacement motion planning problem where...
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10/12/2021
Exact and Bounded Collision Probability for Motion Planning under Gaussian Uncertainty
Computing collision-free trajectories is of prime importance for safe na...
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10/08/2021
Task Allocation for Multi-Robot Task and Motion Planning: a case for Object Picking in Cluttered Workspaces
We present an AND/OR graph-based, integrated multi-robot task and motion...
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04/10/2021
MPTP: Motion-Planning-aware Task Planning for Navigation in Belief Space
We present an integrated Task-Motion Planning (TMP) framework for naviga...
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04/04/2021
Probabilistic Collision Constraint for Motion Planning in Dynamic Environments
Online generation of collision free trajectories is of prime importance ...
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04/04/2021
A Task-Motion Planning Framework Using Iteratively Deepened AND/OR Graph Networks
We present an approach for Task-Motion Planning (TMP) using Iterative De...
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01/27/2021
An Integrated Localisation, Motion Planning and Obstacle Avoidance Algorithm in Belief Space
As robots are being increasingly used in close proximity to humans and o...
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10/01/2020
Towards Multi-Robot Task-Motion Planning for Navigation in Belief Space
Autonomous robots operating in large knowledgeintensive domains require ...
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02/12/2020
Recreating Bat Behavior on Quad-rotor UAVs-A Simulation Approach
We develop an effective computer model to simulate sensing environments ...
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01/13/2020
Simulate forest trees by integrating L-system and 3D CAD files
In this article, we propose a new approach for simulating trees, includi...
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10/24/2019
Task-Motion Planning for Navigation in Belief Space
We present an integrated Task-Motion Planning (TMP) framework for naviga...
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08/27/2019
Task-assisted Motion Planning in Partially Observable Domains
We present an integrated Task-Motion Planning framework for robot naviga...
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06/16/2016