Related papers: Motion Planning as Online Learning: A Multi-Armed …
Sampling-based motion planning is the predominant paradigm in many real-world robotic applications, but its performance is immensely dependent on the quality of the samples. The majority of traditional planners are inefficient as they use…
Time-constrained decision processes have been ubiquitous in many fundamental applications in physics, biology and computer science. Recently, restart strategies have gained significant attention for boosting the efficiency of…
We present Kinodynamic RRT*, an incremental sampling-based approach for asymptotically optimal motion planning for robots with linear differential constraints. Our approach extends RRT*, which was introduced for holonomic robots (Karaman et…
Robot motion planning involves computing a sequence of valid robot configurations that take the robot from its initial state to a goal state. Solving a motion planning problem optimally using analytical methods is proven to be PSPACE-Hard.…
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…
Sampling-based planning is the predominant paradigm for motion planning in robotics. Most sampling-based planners use a global random sampling scheme to guarantee probabilistic completeness. However, most schemes are often inefficient as…
Task and Motion Planning (TAMP) integrates high-level task planning with low-level motion feasibility, but existing methods are costly in long-horizon problems due to excessive motion sampling. While LLMs provide commonsense priors, they…
We study the non-stationary stochastic multi-armed bandit problem, where the reward statistics of each arm may change several times during the course of learning. The performance of a learning algorithm is evaluated in terms of their…
Recent advancements in robotics have transformed industries such as manufacturing, logistics, surgery, and planetary exploration. A key challenge is developing efficient motion planning algorithms that allow robots to navigate complex…
Learning preferences implicit in the choices humans make is a well studied problem in both economics and computer science. However, most work makes the assumption that humans are acting (noisily) optimally with respect to their preferences.…
Kinodynamic Motion Planning (KMP) is to find a robot motion subject to concurrent kinematics and dynamics constraints. To date, quite a few methods solve KMP problems and those that exist struggle to find near-optimal solutions and exhibit…
We consider a multi-armed bandit problem in a setting where each arm produces a noisy reward realization which depends on an observable random covariate. As opposed to the traditional static multi-armed bandit problem, this setting allows…
Despite the performance advantages of modern sampling-based motion planners, solving high dimensional planning problems in near real-time remains a challenge. Applications include hyper-redundant manipulators, snake-like and humanoid…
This paper extends the RRT* algorithm, a recently developed but widely-used sampling-based optimal motion planner, in order to effectively handle nonlinear kinodynamic constraints. Nonlinearity in kinodynamic differential constraints often…
Asymptotically-optimal motion planners such as RRT* have been shown to incrementally approximate the shortest path between start and goal states. Once an initial solution is found, their performance can be dramatically improved by…
Solving multi-robot motion planning (MRMP) requires generating collision-free kinodynamically feasible trajectories for multiple interacting robots. We introduce Kinodynamic Translation-Invariant Edge Bundles or KiTE-Extend, a…
Rapidly-exploring Random Trees (RRT) and its variations have emerged as a robust and efficient tool for finding collision-free paths in robotic systems. However, adding dynamic constraints makes the motion planning problem significantly…
Determining what experience to generate to best facilitate learning (i.e. exploration) is one of the distinguishing features and open challenges in reinforcement learning. The advent of distributed agents that interact with parallel…
As two popular schools of machine learning, online learning and evolutionary computations have become two important driving forces behind real-world decision making engines for applications in biomedicine, economics, and engineering fields.…
This paper presents a kinodynamic motion planner that is able to produce energy efficient motions by taking the full robot dynamics into account, and making use of gravity, inertia, and momentum to reduce the effort. Given a specific goal…