—To efficiently solve challenging motion-planning problems with dynamics, this paper proposes treating motion planning not just as a search problem in a continuous space but as ...
Abstract— Robotic manipulation is important for real, physical world applications. General Purpose manipulation with a robot (eg. delivering dishes, opening doors with a key, etc...
Abstract— We present a novel combination of motion planning techniques to compute motion plans for robotic arms. We compute plans that move the arm as close as possible to the go...
Ioan Alexandru Sucan, Mrinal Kalakrishnan, Sachin ...
We present a hierarchical planning system and its application to robotic manipulation. The novel features of the system are: 1) it finds high-quality kinematic solutions to task-l...
Robot motion planning in a dynamic cluttered workspace requires the capability of dealing with obstacles and deadlock situations. The paper analyzes situations where the robot is ...