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ICRA
2010
IEEE
105views Robotics» more  ICRA 2010»
8 years 7 months ago
On the implementation of single-query sampling-based motion planners
— Single-query sampling-based motion planners are an efficient class of algorithms widely used today to solve challenging motion planning problems. This paper exposes the common...
Ioan Alexandru Sucan, Lydia E. Kavraki
CORR
2002
Springer
118views Education» more  CORR 2002»
8 years 9 months ago
Instabilities of Robot Motion
Instabilities of robot motion are caused by topological reasons. In this paper we find a relation between the topological properties of a configuration space (the structure of its...
Michael Farber
ICRA
2005
IEEE
121views Robotics» more  ICRA 2005»
9 years 2 months ago
Distributed Sampling-Based Roadmap of Trees for Large-Scale Motion Planning
Abstract— High-dimensional problems arising from complex robotic systems test the limits of current motion planners and require the development of efficient distributed motion p...
Erion Plaku, Lydia E. Kavraki
IROS
2007
IEEE
123views Robotics» more  IROS 2007»
9 years 3 months ago
Learning humanoid reaching tasks in dynamic environments
— A central challenging problem in humanoid robotics is to plan and execute dynamic tasks in dynamic environments. Given that the environment is known, sampling-based online moti...
Xiaoxi Jiang, Marcelo Kallmann
ICRA
2007
IEEE
160views Robotics» more  ICRA 2007»
9 years 3 months ago
OOPS for Motion Planning: An Online, Open-source, Programming System
— The success of sampling-based motion planners has resulted in a plethora of methods for improving planning components, such as sampling and connection strategies, local planner...
Erion Plaku, Kostas E. Bekris, Lydia E. Kavraki
IROS
2009
IEEE
163views Robotics» more  IROS 2009»
9 years 3 months ago
On the performance of random linear projections for sampling-based motion planning
— Sampling-based motion planners are often used to solve very high-dimensional planning problems. Many recent algorithms use projections of the state space to estimate properties...
Ioan Alexandru Sucan, Lydia E. Kavraki
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