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09/10/2021
Optimizing Space Utilization for More Effective Multi-Robot Path Planning
We perform a systematic exploration of the principle of Space Utilizatio...
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05/06/2021
Visual Foresight Tree for Object Retrieval from Clutter with Nonprehensile Rearrangement
This paper considers the problem of retrieving an object from a set of t...
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03/25/2021
Spatial and Temporal Splitting Heuristics for Multi-Robot Motion Planning
In this work, we systematically examine the application of spatio-tempor...
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11/09/2020
DIPN: Deep Interaction Prediction Network with Application to Clutter Removal
We propose a Deep Interaction Prediction Network (DIPN) for learning to ...
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07/09/2020
Computing High-Quality Clutter Removal Solutions for Multiple Robots
We investigate the task and motion planning problem of clearing clutter ...
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12/17/2019
Toward Fast and Optimal Robotic Pick-and-Place on a Moving Conveyor
Robotic pick-and-place (PnP) operations on moving conveyors find a wide ...
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05/11/2019
Efficient Algorithms for Optimal Perimeter Guarding
We investigate the problem of optimally assigning a large number of robo...
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04/04/2019
DDM*: Fast Near-Optimal Multi-Robot Path Planning using Diversified-Path and Optimal Sub-Problem Solution Database Heuristics
We propose a novel centralized and decoupled algorithm, DDM*, for solvin...
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02/07/2019
Integer Programming as a General Solution Methodology for Path-Based Optimization in Robotics: Principles, Best Practices, and Applications
Integer programming (IP) has proven to be highly effective in solving ma...
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02/07/2019
Integer Programming as a General Solution Methodology for Path-Based Optimization in Robotics: Principles and Best Practices
The resolution of many robotics problems demands the optimization of cer...
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07/09/2018
Coordinating the Motion of Labeled Discs with Optimality Guarantees under Extreme Density
We push the limit in planning collision-free motions for routing uniform...
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11/17/2017
Complexity Results and Fast Methods for Optimal Tabletop Rearrangement with Overhand Grasps
This paper studies the underlying combinatorial structure of a class of ...
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09/24/2017
SEAR: A Polynomial-Time Multi-Robot Path Planning Algorithm with Expected Constant-Factor Optimality Guarantee
We study the labeled multi-robot path planning problem in continuous 2D ...
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09/24/2017