Related papers: Kinodynamic Rapidly-exploring Random Forest for Re…
The dynamics of real-world applications and systems require efficient methods for improving infeasible solutions or restoring corrupted ones by making modifications to the current state of a system in a restricted way. We propose a new…
We present a method to apply heuristic search algorithms to solve rearrangement planning by pushing problems. In these problems, a robot must push an object through clutter to achieve a goal. To do this, we exploit the fact that contact…
The article proposes an exact approach to find the global solution of a nonconvex semivectorial bilevel optimization problem, where the objective functions at each level are pseudoconvex, and the constraints are quasiconvex. Due to its…
This paper presents a novel algorithm to plan energy-efficient trajectories for autonomous ornithopters. In general, trajectory optimization is quite a relevant problem for practical applications with \emph{Unmanned Aerial Vehicles} (UAVs).…
Physics-based motion planning is a challenging task, since it requires the computation of the robot motions while allowing possible interactions with (some of) the obstacles in the environment. Kinodynamic motion planners equipped with a…
We present an algorithm that produces a plan for relocating obstacles in order to grasp a target in clutter by a robotic manipulator without collisions. We consider configurations where objects are densely populated in a constrained and…
Many real-world tasks, from house-cleaning to cooking, can be formulated as multi-object rearrangement problems -- where an agent needs to get specific objects into appropriate goal states. For such problems, we focus on the setting that…
In this paper, we tackle the problem of 24 hours-monitoring patient actions in a ward such as "stretching an arm out of the bed", "falling out of the bed", where temporal movements are subtle or significant. In the concerned scenarios, the…
Fast, autonomous flight in unstructured, cluttered environments such as forests is challenging because it requires the robot to compute new plans in realtime on a computationally-constrained platform. In this paper, we enable this…
Motion planning problems for physically-coupled multi-robot systems in cluttered environments are challenging due to their high dimensionality. Existing methods combining sampling-based planners with trajectory optimization produce…
Non-prehensile multi-object rearrangement is a robotic task of planning feasible paths and transferring multiple objects to their predefined target poses without grasping. It needs to consider how each object reaches the target and the…
This paper proposes a new sampling-based kinodynamic motion planning algorithm, called FMT*PFF, for nonlinear systems. It exploits the novel idea of dimensionality reduction using partial-final-state-free (PFF) optimal controllers.With the…
We introduce a manifold-based framework for addressing optimization problems with equality and inequality constraints found in robotics. Our approach transforms the original problem into an unconstrained optimization problem directly on the…
Sustainable forest management requires handling uncertainty introduced from various sources, considering different conflicting economic, environmental, and social objectives, and involving multiple decision-making periods. This study…
In this work, we introduce LazyBoE, a multi-query method for kinodynamic motion planning with forward propagation. This algorithm allows for the simultaneous exploration of a robot's state and control spaces, thereby enabling a wider suite…
We use the reconfiguration framework to analyze problems that involve the rearrangement of items among groups. In various applications, a group of items could correspond to the files or jobs assigned to a particular machine, and the goal of…
We present an approach that generates kinodynamically feasible paths for robots using Rapidly-exploring Random Tree (RRT). We leverage motion primitives as a way to capture the dynamics of the robot and use these motion primitives to build…
Industrial timetabling is a critical task for decision-makers across various sectors to ensure efficient system operation. In real-world settings, it remains challenging because unexpected events often disrupt execution. When such events…
Despite recent progress of robotic exploration, most methods assume that drift-free localization is available, which is problematic in reality and causes severe distortion of the reconstructed map. In this work, we present a systematic…
In this series of papers, we present a motion planning framework for planning comfortable and customizable motion of nonholonomic mobile robots such as intelligent wheelchairs and autonomous cars. In Part I, we presented the mathematical…