Related papers: Spatial planning with constraints on translational…
This paper studies the underlying combinatorial structure of a class of object rearrangement problems, which appear frequently in applications. The problems involve multiple, similar-geometry objects placed on a flat, horizontal surface,…
We investigate multiple fundamental variants of the classic coordinated motion planning (CMP) problem for unit square robots in the plane under the $L_1$ metric. In coordinated motion planning, we are given two arrangements of $k$ robots…
Let $P$ and $Q$ be two simple polygons in the plane of total complexity $n$, each of which can be decomposed into at most $k$ convex parts. We present an $(1-\varepsilon)$-approximation algorithm, for finding the translation of $Q$, which…
We study zero-shot 3D alignment of two given meshes, using a text prompt describing their spatial relation -- an essential capability for content creation and scene assembly. Earlier approaches primarily rely on geometric alignment…
We present a hierarchical skeleton-guided motion planning algorithm to guide mobile robots. A good skeleton maps the connectivity of the subspace of c-space containing significant degrees of freedom and is able to guide the planner to find…
Optimal Transport is a theory that allows to define geometrical notions of distance between probability distributions and to find correspondences, relationships, between sets of points. Many machine learning applications are derived from…
Last-mile delivery systems commonly propose the use of autonomous robotic vehicles to increase scalability and efficiency. The economic inefficiency of collecting accurate prior maps for navigation motivates the use of planning algorithms…
Manipulation planning is the task of computing robot trajectories that move a set of objects to their target configuration while satisfying physically feasibility. In contrast to existing works that assume known object templates, we are…
Intelligent robots must be able to perform safe and efficient motion planning in their environments. Central to modern motion planning is the configuration space. Configuration spaces define the set of configurations of a robot that result…
Contact-based motion planning for manipulation, object exploration or balancing often requires finding sequences of fixed and sliding contacts and planning the transition from one contact in the environment to another. However, most…
Robotic grasping is a fundamental skill across all domains of robot applications. There is a large body of research for grasping objects in table-top scenarios, where finding suitable grasps is the main challenge. In this work, we are…
We consider the RMS distance (sum of squared distances between pairs of points) under translation between two point sets in the plane, in two different setups. In the partial-matching setup, each point in the smaller set is matched to a…
Aligning partially overlapping point sets where there is no prior information about the value of the transformation is a challenging problem in computer vision. To achieve this goal, we first reduce the objective of the robust point…
A common representation of a three dimensional object in computer applications, such as graphics and design, is in the form of a triangular mesh. In many instances, individual or groups of triangles in such representation need to satisfy…
This paper introduces Chance Constrained Gaussian Process-Motion Planning (CCGP-MP), a motion planning algorithm for robotic systems under motion and state estimate uncertainties. The paper's key idea is to capture the variations in the…
We provide a comprehensive study of the convergence of the forward-backward algorithm under suitable geometric conditions, such as conditioning or {\L}ojasiewicz properties. These geometrical notions are usually local by nature, and may…
We study an elementary problem of the topological robotics: collective motion of a set of $n$ distinct particles which one has to move from an initial configuration to a final configuration, with the requirement that no collisions occur in…
The paper surveys topological problems relevant to the motion planning problem of robotics and includes some new results and constructions. First we analyse the notion of topological complexity of configuration spaces which is responsible…
In many mobile robotics scenarios, such as drone racing, the goal is to generate a trajectory that passes through multiple waypoints in minimal time. This problem is referred to as time-optimal planning. State-of-the-art approaches either…
Spacecraft relative motion planning is concerned with the design and execution of maneuvers relative to a nominal target. These types of maneuvers are frequently utilized in missions such as rendezvous and docking, satellite inspection and…