Related papers: A Decomposition-Based Approach to Reasoning about …
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…
For a common class of 2D mechanisms called 1-dof tree decomposable linkages, we present a software CayMos which uses new theoretical results to implement efficient algorithmic solutions for: (a) meaningfully representing and visualizing the…
With the aim of bridging the gap between high quality reconstruction and mobile robot motion planning, we propose an efficient system that leverages the concept of adaptive-resolution volumetric mapping, which naturally integrates with the…
We study the problem of motion-planning for free-flying multi-link robots and develop a sampling-based algorithm that is specifically tailored for the task. Our work is based on the simple observation that the set of configurations for…
We investigate approximation algorithms for several fundamental optimization problems on geometric packing. The geometric objects considered are very generic, namely $d$-dimensional convex fat objects. Our main contribution is a versatile…
The problem of decomposing non-manifold object has already been studied in solid modeling. However, the few proposed solutions are limited to the problem of decomposing solids described through their boundaries. In this thesis we study the…
We present a simple and easy-to-implement algorithm to detect plan infeasibility in kinematic motion planning. Our method involves approximating the robot's configuration space to a discrete space, where each degree of freedom has a finite…
Packing is a classical problem where one is given a set of subsets of Euclidean space called objects, and the goal is to find a maximum size subset of objects that are pairwise non-intersecting. The problem is also known as the Independent…
In many applications of autonomous mobile robots the following problem is encountered. Two maps of the same environment are available, one a prior map and the other a sensor map built by the robot. To benefit from all available information…
Design requirements for moving parts in mechanical assemblies are typically specified in terms of interactions with other parts. Some are purely kinematic (e.g., pairwise collision avoidance) while others depend on physics and material…
Motivated by a $2$-dimensional (unsupervised) image segmentation task whereby local regions of pixels are clustered via edge detection methods, a more general probabilistic mathematical framework is devised. Critical thresholds are…
This paper presents a method of computing free motions of a planar assembly of rigid bodies connected by loose joints. Joints are modeled using local distance constraints, which are then linearized with respect to configuration space…
Motion planning seeks a collision-free path in a configuration space (C-space), representing all possible robot configurations in the environment. As it is challenging to construct a C-space explicitly for a high-dimensional robot, we…
The Topological complexity a la Farber $\text{TC}(-)$ is a homotopy invariant which have interesting applications in Robotics, specifically, in the robot motion planning problem. In this work we calculate the topological complexity of the…
This paper addresses the problem of position- and orientation-based formation control of a class of second-order nonlinear multi-agent systems in a $3$D workspace with obstacles. More specifically, we design a decentralized control protocol…
Many computations in robotics can be dramatically accelerated if the robot configuration space is described as a collection of simple sets. For example, recently developed motion planners rely on a convex decomposition of the free space to…
Estimating collision probabilities between robots and environmental obstacles or other moving agents is crucial to ensure safety during path planning. This is an important building block of modern planning algorithms in many application…
We study 4D systems in which parameters of the theory have position dependence in one spatial direction. In the limit where these parameters jump, this can lead to 3D interfaces supporting localized degrees of freedom. A priori, this sort…
Motivated by the fact that 2-dimensional data have become popularly used in many applications without being much considered its integrity checking. We introduce the problem of detecting a corrupted area in a 2-dimensional space, and…
The problem of optimal feedback planning among obstacles in d-dimensional configuration spaces is considered. We present a sampling-based, asymptotically optimal feedback planning method. Our method combines an incremental construction of…