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05/08/2023
A-ePA*SE: Anytime Edge-Based Parallel A* for Slow Evaluations
Anytime search algorithms are useful for planning problems where a solut...
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03/23/2023
Planning for Manipulation among Movable Objects: Deciding Which Objects Go Where, in What Order, and How
We are interested in pick-and-place style robot manipulation tasks in cl...
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03/23/2023
Planning for Complex Non-prehensile Manipulation Among Movable Objects by Interleaving Multi-Agent Pathfinding and Physics-Based Simulation
Real-world manipulation problems in heavy clutter require robots to reas...
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03/16/2023
Learning Local Heuristics for Search-Based Navigation Planning
Graph search planning algorithms for navigation typically rely heavily o...
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01/24/2023
GePA*SE: Generalized Edge-Based Parallel A* for Slow Evaluations
Parallel search algorithms have been shown to improve planning speed by ...
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10/16/2022
Torque-Limited Manipulation Planning through Contact by Interleaving Graph Search and Trajectory Optimization
Robots often have to perform manipulation tasks in close proximity to pe...
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09/27/2022
Efficiently Learning Recoveries from Failures Under Partial Observability
Operating under real world conditions is challenging due to the possibil...
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08/15/2022
Non-Blocking Batch A* (Technical Report)
Heuristic search has traditionally relied on hand-crafted or programmati...
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05/23/2022
Effective Integration of Weighted Cost-to-go and Conflict Heuristic within Suboptimal CBS
Conflict-Based Search (CBS) is a popular multi-agent path finding (MAPF)...
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03/14/2022
Synergistic Scheduling of Learning and Allocation of Tasks in Human-Robot Teams
We consider the problem of completing a set of n tasks with a human-robo...
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03/02/2022
ePA*SE: Edge-based Parallel A* for Slow Evaluations
Parallel search algorithms harness the multithreading capability of mode...
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02/18/2022
Enhanced Multi-Objective A* Using Balanced Binary Search Trees
This work addresses the Multi-Objective Shortest Path Problem (MO-SPP): ...
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11/17/2021
On the Effectiveness of Iterative Learning Control
Iterative learning control (ILC) is a powerful technique for high perfor...
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10/11/2021
AMRA*: Anytime Multi-Resolution Multi-Heuristic A*
Heuristic search-based motion planning algorithms typically discretise t...
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09/25/2021
Improved Soft Duplicate Detection in Search-Based Motion Planning
Search-based techniques have shown great success in motion planning prob...
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07/06/2021
Search-based Path Planning for a High Dimensional Manipulator in Cluttered Environments Using Optimization-based Primitives
In this work we tackle the path planning problem for a 21-dimensional sn...
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07/06/2021
MPLP: Massively Parallelized Lazy Planning
Lazy search algorithms have been developed to efficiently solve planning...
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05/21/2021
Waiting Tables as a Robot Planning Problem
We present how we formalize the waiting tables task in a restaurant as a...
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05/09/2021
Euclidean Distance-Optimal Post-Processing of Grid-Based Paths
Paths planned over grids can often be suboptimal in an Euclidean space a...
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02/25/2021
Theory and Analysis of Optimal Planning over Long and Infinite Horizons for Achieving Independent Partially-Observable Tasks that Evolve over Time
We present the theoretical analysis and proofs of a recently developed a...
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02/08/2021
Manipulation Planning Among Movable Obstacles Using Physics-Based Adaptive Motion Primitives
Robot manipulation in cluttered scenes often requires contact-rich inter...
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01/29/2021
Interleaving Graph Search and Trajectory Optimization for Aggressive Quadrotor Flight
Quadrotors can achieve aggressive flight by tracking complex maneuvers a...
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01/15/2021
Provably Constant-time Planning and Replanning for Real-time Grasping Objects off a Conveyor Belt
In warehouse and manufacturing environments, manipulation platforms are ...
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12/29/2020
Alternative Paths Planner (APP) for Provably Fixed-time Manipulation Planning in Semi-structured Environments
In many applications, including logistics and manufacturing, robot manip...
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11/17/2020
Sim-to-Real Task Planning and Execution from Perception via Reactivity and Recovery
Zero-shot execution of unseen robotic tasks is an important problem in r...
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11/14/2020
Search-based Planning for Active Sensing in Goal-Directed Coverage Tasks
Path planning for robotic coverage is the task of determining a collisio...
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09/21/2020
CMAX++ : Leveraging Experience in Planning and Execution using Inaccurate Models
Given access to accurate dynamical models, modern planning approaches ar...
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08/01/2020
PERCH 2.0 : Fast and Accurate GPU-based Perception via Search for Object Pose Estimation
Pose estimation of known objects is fundamental to tasks such as robotic...
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04/14/2020
Multi-Resolution A*
Heuristic search-based planning techniques are commonly used for motion ...
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03/19/2020
Provably Constant-Time Planning and Re-planning for Real-time Grasping Objects off a Conveyor
In warehousing and manufacturing environments, manipulation platforms ar...
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03/15/2020
Planning with Selective Physics-based Simulation for Manipulation Among Movable Objects
Use of physics-based simulation as a planning model enables a planner to...
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03/09/2020
Planning and Execution using Inaccurate Models with Provable Guarantees
Models used in modern planning problems to simulate outcomes of real wor...
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10/21/2019
Planning, Learning and Reasoning Framework for Robot Truck Unloading
We consider the task of autonomously unloading boxes from trucks using a...
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09/15/2019
Driving in Dense Traffic with Model-Free Reinforcement Learning
Traditional planning and control methods could fail to find a feasible t...
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08/25/2019
A Planning Framework for Persistent, Multi-UAV Coverage with Global Deconfliction
Planning for multi-robot coverage seeks to determine collision-free path...
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01/23/2019
Provable Infinite-Horizon Real-Time Planning for Repetitive Tasks
In manufacturing and automation settings, robots often have to perform h...
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01/30/2018
A Single-Planner Approach to Multi-Modal Humanoid Mobility
In this work, we present an approach to planning for humanoid mobility. ...
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12/02/2017
Effective Footstep Planning for Humanoids Using Homotopy-Class Guidance
Planning the motion for humanoid robots is a computationally-complex tas...
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10/11/2017
Online, interactive user guidance for high-dimensional, constrained motion planning
We consider the problem of planning a collision-free path for a high-dim...
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10/19/2015