相关论文: STAMP: Differentiable Task and Motion Planning via…

Optimization algorithms are pivotal in advancing various scientific and industrial fields but often encounter obstacles such as trapping in local minima, saddle points, and plateaus (flat regions), which makes the convergence to reasonable…

This article introduces a multimodal motion planning (MMP) algorithm that combines three-dimensional (3-D) path planning and a DWA obstacle avoidance algorithm. The algorithms aim to plan the path and motion of obstacle-overcoming robots in…

Training the deep convolutional neural network for computer vision problems is slow and inefficient, especially when it is large and distributed across multiple devices. The inefficiency is caused by the backpropagation algorithm's forward…

Task and motion planning (TAMP) algorithms have been developed to help robots plan behaviors in discrete and continuous spaces. Robots face complex real-world scenarios, where it is hardly possible to model all objects or their physical…

Optimization methods for long-horizon, dynamically feasible motion planning in robotics tackle challenging non-convex and discontinuous optimization problems. Traditional methods often falter due to the nonlinear characteristics of these…

During the last decade, incremental sampling-based motion planning algorithms, such as the Rapidly-exploring Random Trees (RRTs) have been shown to work well in practice and to possess theoretical guarantees such as probabilistic…

We present an effective heuristic for the Steiner Problem in Graphs. Its main elements are a multistart algorithm coupled with aggressive combination of elite solutions, both leveraging recently-proposed fast local searches. We also propose…

Model predictive control (MPC) schemes have a proven track record for delivering aggressive and robust performance in many challenging control tasks, coping with nonlinear system dynamics, constraints, and observational noise. Despite their…

We propose Synchronous Dual-Arm Rearrangement Planner (SDAR), a task and motion planning (TAMP) framework for tabletop rearrangement, where two robot arms equipped with 2-finger grippers must work together in close proximity to rearrange…

We propose a novel algorithm to solve multi-robot motion planning (MRMP) rapidly, called Simultaneous Sampling-and-Search Planning (SSSP). Conventional MRMP studies mostly take the form of two-phase planning that constructs roadmaps and…

This paper introduces a hybrid algorithm of deep reinforcement learning (RL) and Force-based motion planning (FMP) to solve distributed motion planning problem in dense and dynamic environments. Individually, RL and FMP algorithms each have…

Autonomous robotic inspection, where a robot moves through its environment and inspects points of interest, has applications in industrial settings, structural health monitoring, and medicine. Planning the paths for a robot to safely and…

We address multi-robot geometric task-and-motion planning (MR-GTAMP) problems in synchronous, monotone setups. The goal of the MR-GTAMP problem is to move objects with multiple robots to goal regions in the presence of other movable…

The optimization of physical parameters serves various purposes, such as system identification and efficiency in developing devices. Spin-torque oscillators have been applied to neuromorphic computing experimentally and theoretically, but…

Task and Motion Planning (TAMP) has made strides in complex manipulation tasks, yet the execution robustness of the planned solutions remains overlooked. In this work, we propose a method for reactive TAMP to cope with runtime uncertainties…

Purpose of Review Planning collision-free paths for multiple robots is important for real-world multi-robot systems and has been studied as an optimization problem on graphs, called Multi-Agent Path Finding (MAPF). This review surveys…

The Projected Gradient Descent (PGD) algorithm is a widely used and efficient first-order method for solving constrained optimization problems due to its simplicity and scalability in large design spaces. Building on recent advancements in…

Task and motion planning problems in robotics combine symbolic planning over discrete task variables with motion optimization over continuous state and action variables. Recent works such as PDDLStream have focused on optimistic planning…

Graph partition is a fundamental problem of parallel computing for big graph data. Many graph partition algorithms have been proposed to solve the problem in various applications, such as matrix computations and PageRank, etc., but none has…

Decentralized coordination for multi-robot systems involves planning in challenging, high-dimensional spaces. The planning problem is particularly challenging in the presence of obstacles and different sources of uncertainty such as…