Related papers: L4KDE: Learning for KinoDynamic Tree Expansion
Trajectory planning under kinodynamic constraints is fundamental for advanced robotics applications that require dexterous, reactive, and rapid skills in complex environments. These constraints, which may represent task, safety, or actuator…
We present a sampling-based kinodynamic planning framework for a bipedal robot in complex environments. Unlike other footstep planner which typically plan footstep locations and the biped dynamics in separate steps, we handle both…
Anytime sampling-based methods are an attractive technique for solving kino-dynamic motion planning problems. These algorithms scale well to higher dimensions and can efficiently handle state and control constraints. However, an intelligent…
This paper proposes a bidirectional rapidly-exploring random trees (RRT) algorithm to solve the motion planning problem for hybrid systems. The proposed algorithm, called HyRRT-Connect, propagates in both forward and backward directions in…
Path planning for robotic coverage is the task of determining a collision-free robot trajectory that observes all points of interest in an environment. Robots employed for such tasks are often capable of exercising active control over…
Trajectory replanning for quadrotors is essential to enable fully autonomous flight in unknown environments. Hierarchical motion planning frameworks, which combine path planning with path parameterization, are popular due to their time…
In this paper, we propose an efficient contact planner for quadrupedal robots to navigate in extremely constrained environments such as stepping stones. The main difficulty in this setting stems from the mixed nature of the problem, namely…
This paper presents a motion planner for systems subject to kinematic and dynamic constraints. The former appear when kinematic loops are present in the system, such as in parallel manipulators, in robots that cooperate to achieve a given…
In this paper, a sampling-based trajectory planning algorithm for a laboratory-scale 3D gantry crane in an environment with static obstacles and subject to bounds on the velocity and acceleration of the gantry crane system is presented. The…
In this paper, we propose a robust and efficient quadrotor motion planning system for fast flight in 3-D complex environments. We adopt a kinodynamic path searching method to find a safe, kinodynamic feasible and minimum-time initial…
Coordinated multi-robot motion planning at intersections is key for safe mobility in roads, factories and warehouses. The rapidly exploring random tree (RRT) algorithms are popular in multi-robot motion planning. However, generating the…
Continuum robots, characterized by their high flexibility and infinite degrees of freedom (DoFs), have gained prominence in applications such as minimally invasive surgery and hazardous environment exploration. However, the intrinsic…
We integrate sampling-based planning techniques with funnel-based feedback control to develop KDF, a new framework for solving the kinodynamic motion-planning problem via funnel control. The considered systems evolve subject to complex,…
With the rise of the Internet of Things, strategies for effectively processing big data are essential for discovering meaningul insights. The time series datasets produced by groups of interconnected devices contain valuable underlying…
This paper proposes FREEtree, a tree-based method for high dimensional longitudinal data with correlated features. Popular machine learning approaches, like Random Forests, commonly used for variable selection do not perform well when there…
A big challenge in branch and bound lies in identifying the optimal node within the search tree from which to proceed. Current state-of-the-art selectors utilize either hand-crafted ensembles that automatically switch between naive sub-node…
Sampling-based motion planners (SBMPs) are widely used for robot motion planning with complex kinodynamic constraints in high-dimensional spaces, yet they struggle to achieve \emph{real-time} performance due to their serial computation…
This work presents a fully integrated tree-based combined exploration-planning algorithm: Exploration-RRT (ERRT). The algorithm is focused on providing real-time solutions for local exploration in a fully unknown and unstructured…
While modern biotechnologies allow synthesizing new proteins and function measurements at scale, efficiently exploring a protein sequence space and engineering it remains a daunting task due to the vast sequence space of any given protein.…
In this paper, we present an efficient Dynamic Programing framework for optimal planning and control of legged robots. First we formulate this problem as an optimal control problem for switched systems. Then we propose a multi--level…