Related papers: How to organize an in-person, online or hybrid hac…
This paper is a summary of the findings from a series of workshops which were held by Thinknet 6G and MUENCHNER KREIS in 2021, with the goal to provide orientation and input for developing a strategic 6G research plan. The topics selected…
Motion planning techniques for quadrotors have advanced significantly over the past decade. Most successful planners have two stages: a front-end that determines a path that incorporates geometric (or kinematic or input) constraints and…
In this paper, we present a fast, on-line mapping and planning solution for operation in unknown, off-road, environments. We combine obstacle detection along with a terrain gradient map to make simple and adaptable cost map. This map can be…
This work provides a framework for a workspace aware online grasp planner. This framework greatly improves the performance of standard online grasp planning algorithms by incorporating a notion of reachability into the online grasp planning…
The ability to jointly understand the geometry of objects and plan actions for manipulating them is crucial for intelligent agents. We refer to this ability as geometric planning. Recently, many interactive environments have been proposed…
Local planning is an optimization process within a mobile robot navigation stack that searches for the best velocity vector, given the robot and environment state. Depending on how the optimization criteria and constraints are defined, some…
In this work, we examine the problem of online decision making under uncertainty, which we formulate as planning in the belief space. Maintaining beliefs (i.e., distributions) over high-dimensional states (e.g., entire trajectories) was not…
Humanoid robots are increasingly demanded to operate in interactive and human-surrounded environments while achieving sophisticated locomotion and manipulation tasks. To accomplish these tasks, roboticists unremittingly seek for advanced…
The only systematic mapping of the HLAI technical landscape was conducted at a workshop in 2009 [Adams et al., 2012]. However, the results from it were not what organizers had hoped for [Goertzel 2014, 2016], merely just a series of…
In recent years, there is a noteworthy advancement in autonomous drone racing. However, the primary focus is on attaining execution times, while scant attention is given to the challenges of dynamic environments. The high-speed nature of…
Ineffective meetings due to unclear goals are major obstacles to productivity, yet support for intentionality is surprisingly scant in our meeting and allied workflow technologies. To design for intentionality, we need to understand…
Collision avoidance in unknown obstacle-cluttered environments may not always be feasible. This paper focuses on an emerging paradigm shift in which potential collisions with the environment can be harnessed instead of being avoided…
As more robots are being deployed into human environments, a human-aware navigation planner needs to handle multiple contexts that occur in indoor and outdoor environments. In this paper, we propose a tunable human-aware robot navigation…
The hierarchy of global and local planners is one of the most commonly utilized system designs in autonomous robot navigation. While the global planner generates a reference path from the current to goal locations based on the pre-built…
The trade-off between the quality and timeliness of adaptation is a multi-faceted challenge in engineering self-adaptive systems. Obtaining adaptation plans that fulfill system objectives with high utility and in a timely manner is the holy…
We present the first scene-update aerial path planning algorithm specifically designed for detecting and updating change areas in urban environments. While existing methods for large-scale 3D urban scene reconstruction focus on achieving…
Domain-independent planning is one of the foundational areas in the field of Artificial Intelligence. A description of a planning task consists of an initial world state, a goal, and a set of actions for modifying the world state. The…
This paper presents a hierarchical framework for planning and control of in-hand manipulation of a rigid object involving grasp changes using fully-actuated multifingered robotic hands. While the framework can be applied to the general…
The primary objective of a diverse planning approach is to generate a set of plans that are distinct from one another. Such an approach is applied in a variety of real-world domains, including risk management, automated stream data…
Artificial Intelligence (AI) planning is a flourishing research and development discipline that provides powerful tools for searching a course of action that achieves some user goal. While these planning tools show excellent performance on…